1 .file "fc.c" 2 .arch atmega1284p 3 __SREG__ = 0x3f 4 __SP_H__ = 0x3e 5 __SP_L__ = 0x3d 6 __tmp_reg__ = 0 7 __zero_reg__ = 1 8 .global __do_copy_data 9 .global __do_clear_bss 10 .global GasIsZeroCnt 11 .global GasIsZeroCnt 12 .section .bss 15 GasIsZeroCnt: 16 0000 0000 .skip 2,0 17 .global HooverGasEmergencyPercent 18 .global HooverGasEmergencyPercent 21 HooverGasEmergencyPercent: 22 0002 0000 .skip 2,0 23 .global VarioCharacter 24 .data 27 VarioCharacter: 28 0000 20 .byte 32 29 .global GIER_GRAD_FAKTOR 32 GIER_GRAD_FAKTOR: 33 0001 0B05 0000 .long 1291 34 .global FC_StatusFlags2 35 .global FC_StatusFlags2 36 .section .bss 39 FC_StatusFlags2: 40 0004 00 .skip 1,0 41 .global FC_StatusFlags 42 .global FC_StatusFlags 45 FC_StatusFlags: 46 0005 00 .skip 1,0 47 .global modell_fliegt 48 .global modell_fliegt 51 modell_fliegt: 52 0006 0000 .skip 2,0 53 .global MaxStickRoll 54 .global MaxStickRoll 57 MaxStickRoll: 58 0008 0000 .skip 2,0 59 .global MaxStickNick 60 .global MaxStickNick 63 MaxStickNick: 64 000a 0000 .skip 2,0 65 .global ExternHoehenValue 66 .data 69 ExternHoehenValue: 70 0005 ECFF .word -20 71 .global ExternStickGier 72 .global ExternStickGier 73 .section .bss 76 ExternStickGier: 77 000c 0000 .skip 2,0 78 .global ExternStickRoll 79 .global ExternStickRoll 82 ExternStickRoll: 83 000e 0000 .skip 2,0 84 .global ExternStickNick 85 .global ExternStickNick 88 ExternStickNick: 89 0010 0000 .skip 2,0 90 .global sintab 91 .data 94 sintab: 95 0007 00 .byte 0 96 0008 02 .byte 2 97 0009 04 .byte 4 98 000a 06 .byte 6 99 000b 07 .byte 7 100 000c 08 .byte 8 101 000d 08 .byte 8 102 000e 08 .byte 8 103 000f 07 .byte 7 104 0010 06 .byte 6 105 0011 04 .byte 4 106 0012 02 .byte 2 107 0013 00 .byte 0 108 0014 FE .byte -2 109 0015 FC .byte -4 110 0016 FA .byte -6 111 0017 F9 .byte -7 112 0018 F8 .byte -8 113 0019 F8 .byte -8 114 001a F8 .byte -8 115 001b F9 .byte -7 116 001c FA .byte -6 117 001d FC .byte -4 118 001e FE .byte -2 119 001f 00 .byte 0 120 0020 02 .byte 2 121 0021 04 .byte 4 122 0022 06 .byte 6 123 0023 07 .byte 7 124 0024 08 .byte 8 125 0025 08 .byte 8 126 .global CareFree 127 .global CareFree 128 .section .bss 131 CareFree: 132 0012 00 .skip 1,0 133 .global Parameter_DynamicStability 134 .data 137 Parameter_DynamicStability: 138 0026 64 .byte 100 139 .global Parameter_CouplingYawCorrection 142 Parameter_CouplingYawCorrection: 143 0027 40 .byte 64 144 .global Parameter_AchsKopplung2 147 Parameter_AchsKopplung2: 148 0028 41 .byte 65 149 .global Parameter_AchsKopplung1 152 Parameter_AchsKopplung1: 153 0029 5A .byte 90 154 .global Parameter_LoopGasLimit 157 Parameter_LoopGasLimit: 158 002a 46 .byte 70 159 .global Parameter_ServoRollComp 162 Parameter_ServoRollComp: 163 002b 55 .byte 85 164 .global Parameter_ServoNickComp 167 Parameter_ServoNickComp: 168 002c 32 .byte 50 169 .global Parameter_ServoRollControl 172 Parameter_ServoRollControl: 173 002d 64 .byte 100 174 .global Parameter_ServoNickControl 177 Parameter_ServoNickControl: 178 002e 64 .byte 100 179 .global Parameter_UserParam8 180 .global Parameter_UserParam8 181 .section .bss 184 Parameter_UserParam8: 185 0013 00 .skip 1,0 186 .global Parameter_UserParam7 187 .global Parameter_UserParam7 190 Parameter_UserParam7: 191 0014 00 .skip 1,0 192 .global Parameter_UserParam6 193 .global Parameter_UserParam6 196 Parameter_UserParam6: 197 0015 00 .skip 1,0 198 .global Parameter_UserParam5 199 .global Parameter_UserParam5 202 Parameter_UserParam5: 203 0016 00 .skip 1,0 204 .global Parameter_UserParam4 205 .global Parameter_UserParam4 208 Parameter_UserParam4: 209 0017 00 .skip 1,0 210 .global Parameter_UserParam3 211 .global Parameter_UserParam3 214 Parameter_UserParam3: 215 0018 00 .skip 1,0 216 .global Parameter_UserParam2 217 .global Parameter_UserParam2 220 Parameter_UserParam2: 221 0019 00 .skip 1,0 222 .global Parameter_UserParam1 223 .global Parameter_UserParam1 226 Parameter_UserParam1: 227 001a 00 .skip 1,0 228 .global Parameter_I_Faktor 229 .data 232 Parameter_I_Faktor: 233 002f 0A .byte 10 234 .global Parameter_Gier_P 237 Parameter_Gier_P: 238 0030 02 .byte 2 239 .global Parameter_Gyro_Gier_I 242 Parameter_Gyro_Gier_I: 243 0031 96 .byte -106 244 .global Parameter_Gyro_Gier_P 247 Parameter_Gyro_Gier_P: 248 0032 96 .byte -106 249 .global Parameter_Gyro_I 252 Parameter_Gyro_I: 253 0033 96 .byte -106 254 .global Parameter_Gyro_P 257 Parameter_Gyro_P: 258 0034 96 .byte -106 259 .global Parameter_Gyro_D 262 Parameter_Gyro_D: 263 0035 08 .byte 8 264 .global Parameter_Hoehe_GPS_Z 267 Parameter_Hoehe_GPS_Z: 268 0036 40 .byte 64 269 .global Parameter_KompassWirkung 272 Parameter_KompassWirkung: 273 0037 40 .byte 64 274 .global Parameter_Hoehe_ACC_Wirkung 277 Parameter_Hoehe_ACC_Wirkung: 278 0038 3A .byte 58 279 .global Parameter_Hoehe_P 282 Parameter_Hoehe_P: 283 0039 10 .byte 16 284 .global Parameter_HoehenSchalter 287 Parameter_HoehenSchalter: 288 003a FB .byte -5 289 .global Parameter_Luftdruck_D 292 Parameter_Luftdruck_D: 293 003b 30 .byte 48 294 .global Looping_Oben 295 .global Looping_Oben 296 .section .bss 299 Looping_Oben: 300 001b 00 .skip 1,0 301 .global Looping_Unten 302 .global Looping_Unten 305 Looping_Unten: 306 001c 00 .skip 1,0 307 .global Looping_Rechts 308 .global Looping_Rechts 311 Looping_Rechts: 312 001d 00 .skip 1,0 313 .global Looping_Links 314 .global Looping_Links 317 Looping_Links: 318 001e 00 .skip 1,0 319 .global Looping_Roll 320 .global Looping_Roll 323 Looping_Roll: 324 001f 00 .skip 1,0 325 .global Looping_Nick 326 .global Looping_Nick 329 Looping_Nick: 330 0020 00 .skip 1,0 331 .global Ki 332 .data 335 Ki: 336 003c 3801 .word 312 337 .global HoverGas 338 .global HoverGas 339 .section .bss 342 HoverGas: 343 0021 0000 .skip 2,0 344 .global LageKorrekturNick 345 .global LageKorrekturNick 348 LageKorrekturNick: 349 0023 0000 .skip 2,0 350 .global LageKorrekturRoll 351 .global LageKorrekturRoll 354 LageKorrekturRoll: 355 0025 0000 .skip 2,0 356 .global NeueKompassRichtungMerken 357 .global NeueKompassRichtungMerken 360 NeueKompassRichtungMerken: 361 0027 00 .skip 1,0 362 .global CalibrationDone 363 .global CalibrationDone 366 CalibrationDone: 367 0028 00 .skip 1,0 368 .global CompassGierSetpoint 369 .global CompassGierSetpoint 372 CompassGierSetpoint: 373 0029 0000 .skip 2,0 374 .global WaypointTrimming 375 .global WaypointTrimming 378 WaypointTrimming: 379 002b 00 .skip 1,0 380 .global carefree_old 381 .data 384 carefree_old: 385 003e 32 .byte 50 386 .global FromNC_AltitudeSpeed 387 .global FromNC_AltitudeSpeed 388 .section .bss 391 FromNC_AltitudeSpeed: 392 002c 00 .skip 1,0 393 .global FromNC_AltitudeSetpoint 394 .global FromNC_AltitudeSetpoint 397 FromNC_AltitudeSetpoint: 398 002d 0000 0000 .skip 4,0 399 .global AltitudeSetpointTrimming 400 .global AltitudeSetpointTrimming 403 AltitudeSetpointTrimming: 404 0031 0000 .skip 2,0 405 .global SollHoehe 406 .global SollHoehe 409 SollHoehe: 410 0033 0000 0000 .skip 4,0 411 .global HoehenWert 412 .global HoehenWert 415 HoehenWert: 416 0037 0000 0000 .skip 4,0 417 .global StartTrigger 418 .global StartTrigger 421 StartTrigger: 422 003b 00 .skip 1,0 423 .global MotorenEin 424 .global MotorenEin 427 MotorenEin: 428 003c 00 .skip 1,0 429 .global SenderOkay 430 .global SenderOkay 433 SenderOkay: 434 003d 00 .skip 1,0 435 .global Poti 436 .global Poti 439 Poti: 440 003e 0000 0000 .skip 9,0 440 0000 0000 440 00 441 .global StickGas 442 .global StickGas 445 StickGas: 446 0047 0000 .skip 2,0 447 .global StickGier 448 .global StickGier 451 StickGier: 452 0049 0000 .skip 2,0 453 .global StickRoll 454 .global StickRoll 457 StickRoll: 458 004b 0000 .skip 2,0 459 .global StickNick 460 .global StickNick 463 StickNick: 464 004d 0000 .skip 2,0 465 .global HoverGasMax 466 .data 469 HoverGasMax: 470 003f FF03 .word 1023 471 .global HoverGasMin 472 .global HoverGasMin 473 .section .bss 476 HoverGasMin: 477 004f 0000 .skip 2,0 478 .global StickGasHover 479 .data 482 StickGasHover: 483 0041 7800 .word 120 484 .global GierGyroFehler 485 .global GierGyroFehler 486 .section .bss 489 GierGyroFehler: 490 0051 0000 .skip 2,0 491 .global Umschlag180Roll 492 .data 495 Umschlag180Roll: 496 0043 90D0 0300 .long 250000 497 .global Umschlag180Nick 500 Umschlag180Nick: 501 0047 90D0 0300 .long 250000 502 .global TrichterFlug 503 .global TrichterFlug 504 .section .bss 507 TrichterFlug: 508 0053 00 .skip 1,0 509 .global HoehenReglerAktiv 510 .global HoehenReglerAktiv 513 HoehenReglerAktiv: 514 0054 00 .skip 1,0 515 .global KompassSignalSchlecht 516 .data 519 KompassSignalSchlecht: 520 004b 3200 .word 50 521 .global KompassFusion 524 KompassFusion: 525 004d 20 .byte 32 526 .global CalculateCompassTimer 529 CalculateCompassTimer: 530 004e 64 .byte 100 531 .global KompassSollWert 532 .global KompassSollWert 533 .section .bss 536 KompassSollWert: 537 0055 0000 .skip 2,0 538 .global KompassValue 539 .data 542 KompassValue: 543 004f FFFF .word -1 544 .global Mess_Integral_Hoch 545 .global Mess_Integral_Hoch 546 .section .bss 549 Mess_Integral_Hoch: 550 0057 0000 0000 .skip 4,0 551 .global SummeRoll 552 .global SummeRoll 555 SummeRoll: 556 005b 0000 0000 .skip 4,0 557 .global SummeNick 558 .global SummeNick 561 SummeNick: 562 005f 0000 0000 .skip 4,0 563 .global Mess_Integral_Gier2 564 .global Mess_Integral_Gier2 567 Mess_Integral_Gier2: 568 0063 0000 0000 .skip 4,0 569 .global Mess_Integral_Gier 570 .global Mess_Integral_Gier 573 Mess_Integral_Gier: 574 0067 0000 0000 .skip 4,0 575 .global Mess_IntegralRoll2 576 .global Mess_IntegralRoll2 579 Mess_IntegralRoll2: 580 006b 0000 0000 .skip 4,0 581 .global Mess_IntegralRoll 582 .global Mess_IntegralRoll 585 Mess_IntegralRoll: 586 006f 0000 0000 .skip 4,0 587 .global Mess_IntegralNick2 588 .global Mess_IntegralNick2 591 Mess_IntegralNick2: 592 0073 0000 0000 .skip 4,0 593 .global Mess_IntegralNick 594 .global Mess_IntegralNick 597 Mess_IntegralNick: 598 0077 0000 0000 .skip 4,0 599 .global Integral_Gier 600 .global Integral_Gier 603 Integral_Gier: 604 007b 0000 0000 .skip 4,0 605 .global IntegralAccZ 606 .global IntegralAccZ 609 IntegralAccZ: 610 007f 0000 0000 .skip 4,0 611 .global IntegralAccRoll 612 .global IntegralAccRoll 615 IntegralAccRoll: 616 0083 0000 0000 .skip 4,0 617 .global IntegralAccNick 618 .global IntegralAccNick 621 IntegralAccNick: 622 0087 0000 0000 .skip 4,0 623 .global IntegralRoll2 624 .global IntegralRoll2 627 IntegralRoll2: 628 008b 0000 0000 .skip 4,0 629 .global IntegralRoll 630 .global IntegralRoll 633 IntegralRoll: 634 008f 0000 0000 .skip 4,0 635 .global IntegralNick2 636 .global IntegralNick2 639 IntegralNick2: 640 0093 0000 0000 .skip 4,0 641 .global IntegralNick 642 .global IntegralNick 645 IntegralNick: 646 0097 0000 0000 .skip 4,0 647 .global ControlHeading 648 .global ControlHeading 651 ControlHeading: 652 009b 00 .skip 1,0 653 .global NeutralAccZ 654 .global NeutralAccZ 657 NeutralAccZ: 658 009c 0000 .skip 2,0 659 .global NaviCntAcc 660 .global NaviCntAcc 663 NaviCntAcc: 664 009e 0000 .skip 2,0 665 .global NeutralAccY 666 .global NeutralAccY 669 NeutralAccY: 670 00a0 0000 .skip 2,0 671 .global NeutralAccX 672 .global NeutralAccX 675 NeutralAccX: 676 00a2 0000 .skip 2,0 677 .global StartNeutralNick 678 .global StartNeutralNick 681 StartNeutralNick: 682 00a4 0000 .skip 2,0 683 .global StartNeutralRoll 684 .global StartNeutralRoll 687 StartNeutralRoll: 688 00a6 0000 .skip 2,0 689 .global AdNeutralGier 690 .global AdNeutralGier 693 AdNeutralGier: 694 00a8 0000 .skip 2,0 695 .global AdNeutralRoll 696 .global AdNeutralRoll 699 AdNeutralRoll: 700 00aa 0000 .skip 2,0 701 .global AdNeutralNick 702 .global AdNeutralNick 705 AdNeutralNick: 706 00ac 0000 .skip 2,0 707 .global BaroExpandActive 708 .global BaroExpandActive 711 BaroExpandActive: 712 00ae 0000 .skip 2,0 713 .text 714 .global CopyDebugValues 716 CopyDebugValues: 717 /* prologue: frame size=0 */ 718 0000 EF92 push r14 719 0002 FF92 push r15 720 0004 0F93 push r16 721 0006 1F93 push r17 722 /* prologue end (size=4) */ 723 0008 8091 0000 lds r24,EE_Parameter+28 724 000c 9927 clr r25 725 000e 880F lsl r24 726 0010 991F rol r25 727 0012 880F lsl r24 728 0014 991F rol r25 729 0016 7C01 movw r14,r24 730 0018 0027 clr r16 731 001a F7FC sbrc r15,7 732 001c 0095 com r16 733 001e 102F mov r17,r16 734 0020 8091 0000 lds r24,IntegralNick 735 0024 9091 0000 lds r25,(IntegralNick)+1 736 0028 A091 0000 lds r26,(IntegralNick)+2 737 002c B091 0000 lds r27,(IntegralNick)+3 738 0030 BC01 movw r22,r24 739 0032 CD01 movw r24,r26 740 0034 A801 movw r20,r16 741 0036 9701 movw r18,r14 742 0038 0E94 0000 call __divmodsi4 743 003c 3093 0000 sts (DebugOut+2)+1,r19 744 0040 2093 0000 sts DebugOut+2,r18 745 0044 8091 0000 lds r24,IntegralRoll 746 0048 9091 0000 lds r25,(IntegralRoll)+1 747 004c A091 0000 lds r26,(IntegralRoll)+2 748 0050 B091 0000 lds r27,(IntegralRoll)+3 749 0054 BC01 movw r22,r24 750 0056 CD01 movw r24,r26 751 0058 A801 movw r20,r16 752 005a 9701 movw r18,r14 753 005c 0E94 0000 call __divmodsi4 754 0060 3093 0000 sts (DebugOut+4)+1,r19 755 0064 2093 0000 sts DebugOut+4,r18 756 0068 8091 0000 lds r24,Mittelwert_AccNick 757 006c 9091 0000 lds r25,(Mittelwert_AccNick)+1 758 0070 97FD sbrc r25,7 759 0072 0396 adiw r24,3 760 .L2: 761 0074 9595 asr r25 762 0076 8795 ror r24 763 0078 9595 asr r25 764 007a 8795 ror r24 765 007c 9093 0000 sts (DebugOut+6)+1,r25 766 0080 8093 0000 sts DebugOut+6,r24 767 0084 8091 0000 lds r24,Mittelwert_AccRoll 768 0088 9091 0000 lds r25,(Mittelwert_AccRoll)+1 769 008c 97FD sbrc r25,7 770 008e 0396 adiw r24,3 771 .L3: 772 0090 9595 asr r25 773 0092 8795 ror r24 774 0094 9595 asr r25 775 0096 8795 ror r24 776 0098 9093 0000 sts (DebugOut+8)+1,r25 777 009c 8093 0000 sts DebugOut+8,r24 778 00a0 8091 0000 lds r24,AdNeutralGier 779 00a4 9091 0000 lds r25,(AdNeutralGier)+1 780 00a8 2091 0000 lds r18,AdWertGier 781 00ac 3091 0000 lds r19,(AdWertGier)+1 782 00b0 821B sub r24,r18 783 00b2 930B sbc r25,r19 784 00b4 9093 0000 sts (DebugOut+10)+1,r25 785 00b8 8093 0000 sts DebugOut+10,r24 786 00bc 8091 0000 lds r24,HoehenWert 787 00c0 9091 0000 lds r25,(HoehenWert)+1 788 00c4 A091 0000 lds r26,(HoehenWert)+2 789 00c8 B091 0000 lds r27,(HoehenWert)+3 790 00cc BC01 movw r22,r24 791 00ce CD01 movw r24,r26 792 00d0 25E0 ldi r18,lo8(5) 793 00d2 30E0 ldi r19,hi8(5) 794 00d4 40E0 ldi r20,hlo8(5) 795 00d6 50E0 ldi r21,hhi8(5) 796 00d8 0E94 0000 call __divmodsi4 797 00dc 3093 0000 sts (DebugOut+12)+1,r19 798 00e0 2093 0000 sts DebugOut+12,r18 799 00e4 8091 0000 lds r24,AdWertAccHoch 800 00e8 9091 0000 lds r25,(AdWertAccHoch)+1 801 00ec 9093 0000 sts (DebugOut+14)+1,r25 802 00f0 8093 0000 sts DebugOut+14,r24 803 00f4 8091 0000 lds r24,UBat 804 00f8 9091 0000 lds r25,(UBat)+1 805 00fc 9093 0000 sts (DebugOut+16)+1,r25 806 0100 8093 0000 sts DebugOut+16,r24 807 0104 8091 0000 lds r24,Motor+1 808 0108 9927 clr r25 809 010a 9093 0000 sts (DebugOut+18)+1,r25 810 010e 8093 0000 sts DebugOut+18,r24 811 0112 8091 0000 lds r24,Motor+9 812 0116 9927 clr r25 813 0118 9093 0000 sts (DebugOut+20)+1,r25 814 011c 8093 0000 sts DebugOut+20,r24 815 0120 8091 0000 lds r24,Motor+17 816 0124 9927 clr r25 817 0126 9093 0000 sts (DebugOut+22)+1,r25 818 012a 8093 0000 sts DebugOut+22,r24 819 012e 8091 0000 lds r24,Motor+25 820 0132 9927 clr r25 821 0134 9093 0000 sts (DebugOut+24)+1,r25 822 0138 8093 0000 sts DebugOut+24,r24 823 013c 8091 0000 lds r24,Motor+33 824 0140 9927 clr r25 825 0142 9093 0000 sts (DebugOut+26)+1,r25 826 0146 8093 0000 sts DebugOut+26,r24 827 014a 8091 0000 lds r24,Motor+41 828 014e 9927 clr r25 829 0150 9093 0000 sts (DebugOut+28)+1,r25 830 0154 8093 0000 sts DebugOut+28,r24 831 0158 8091 0000 lds r24,Motor+49 832 015c 9927 clr r25 833 015e 9093 0000 sts (DebugOut+30)+1,r25 834 0162 8093 0000 sts DebugOut+30,r24 835 0166 8091 0000 lds r24,Motor+57 836 016a 9927 clr r25 837 016c 9093 0000 sts (DebugOut+32)+1,r25 838 0170 8093 0000 sts DebugOut+32,r24 839 0174 8091 0000 lds r24,SenderOkay 840 0178 9927 clr r25 841 017a 9093 0000 sts (DebugOut+34)+1,r25 842 017e 8093 0000 sts DebugOut+34,r24 843 0182 8091 0000 lds r24,ErsatzKompass 844 0186 9091 0000 lds r25,(ErsatzKompass)+1 845 018a A091 0000 lds r26,(ErsatzKompass)+2 846 018e B091 0000 lds r27,(ErsatzKompass)+3 847 0192 2091 0000 lds r18,GIER_GRAD_FAKTOR 848 0196 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 849 019a 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 850 019e 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 851 01a2 BC01 movw r22,r24 852 01a4 CD01 movw r24,r26 853 01a6 0E94 0000 call __divmodsi4 854 01aa 3093 0000 sts (DebugOut+36)+1,r19 855 01ae 2093 0000 sts DebugOut+36,r18 856 01b2 8091 0000 lds r24,Capacity 857 01b6 9091 0000 lds r25,(Capacity)+1 858 01ba 9093 0000 sts (DebugOut+38)+1,r25 859 01be 8093 0000 sts DebugOut+38,r24 860 01c2 8091 0000 lds r24,Capacity+4 861 01c6 9091 0000 lds r25,(Capacity+4)+1 862 01ca 9093 0000 sts (DebugOut+40)+1,r25 863 01ce 8093 0000 sts DebugOut+40,r24 864 01d2 8091 0000 lds r24,ServoNickValue 865 01d6 9091 0000 lds r25,(ServoNickValue)+1 866 01da 9093 0000 sts (DebugOut+42)+1,r25 867 01de 8093 0000 sts DebugOut+42,r24 868 01e2 8091 0000 lds r24,KompassValue 869 01e6 9091 0000 lds r25,(KompassValue)+1 870 01ea 9093 0000 sts (DebugOut+44)+1,r25 871 01ee 8093 0000 sts DebugOut+44,r24 872 01f2 1092 0000 sts (DebugOut+46)+1,__zero_reg__ 873 01f6 1092 0000 sts DebugOut+46,__zero_reg__ 874 01fa 8091 0000 lds r24,Capacity+6 875 01fe 9927 clr r25 876 0200 9093 0000 sts (DebugOut+48)+1,r25 877 0204 8093 0000 sts DebugOut+48,r24 878 0208 8091 0000 lds r24,GPS_Nick 879 020c 9091 0000 lds r25,(GPS_Nick)+1 880 0210 9093 0000 sts (DebugOut+50)+1,r25 881 0214 8093 0000 sts DebugOut+50,r24 882 0218 8091 0000 lds r24,GPS_Roll 883 021c 9091 0000 lds r25,(GPS_Roll)+1 884 0220 9093 0000 sts (DebugOut+52)+1,r25 885 0224 8093 0000 sts DebugOut+52,r24 886 0228 8091 0000 lds r24,VersionInfo+5 887 022c 8823 tst r24 888 022e 01F4 brne .L5 889 0230 8091 0000 lds r24,VersionInfo+6 890 0234 8823 tst r24 891 0236 01F0 breq .L4 892 .L5: 893 0238 8091 0000 lds r24,DebugOut+1 894 023c 8160 ori r24,lo8(1) 895 023e 00C0 rjmp .L7 896 .L4: 897 0240 8091 0000 lds r24,DebugOut+1 898 0244 8E7F andi r24,lo8(-2) 899 .L7: 900 0246 8093 0000 sts DebugOut+1,r24 901 /* epilogue: frame size=0 */ 902 024a 1F91 pop r17 903 024c 0F91 pop r16 904 024e FF90 pop r15 905 0250 EF90 pop r14 906 0252 0895 ret 907 /* epilogue end (size=5) */ 908 /* function CopyDebugValues size 300 (291) */ 910 .global Piep 912 Piep: 913 /* prologue: frame size=0 */ 914 0254 EF92 push r14 915 0256 FF92 push r15 916 0258 1F93 push r17 917 025a CF93 push r28 918 025c DF93 push r29 919 /* prologue end (size=5) */ 920 025e 182F mov r17,r24 921 0260 7B01 movw r14,r22 922 0262 8091 0000 lds r24,MotorenEin 923 0266 8823 tst r24 924 0268 01F4 brne .L8 925 026a 8091 0000 lds r24,PlatinenVersion 926 026e 8C30 cpi r24,lo8(12) 927 0270 00F0 brlo .L11 928 0272 8631 cpi r24,lo8(22) 929 0274 01F4 brne .L10 930 .L11: 931 0276 2998 cbi 37-0x20,1 932 0278 00C0 rjmp .L12 933 .L10: 934 027a 299A sbi 37-0x20,1 935 .L12: 936 027c 1150 subi r17,lo8(-(-1)) 937 027e 1F3F cpi r17,lo8(-1) 938 0280 01F0 breq .L26 939 0282 F092 0000 sts (beeptime)+1,r15 940 0286 E092 0000 sts beeptime,r14 941 028a E701 movw r28,r14 942 .L34: 943 028c 8091 0000 lds r24,beeptime 944 0290 9091 0000 lds r25,(beeptime)+1 945 0294 892B or r24,r25 946 0296 01F4 brne .L31 947 0298 2097 sbiw r28,0 948 029a 01F0 breq .L12 949 .L31: 950 029c 8091 0000 lds r24,UpdateMotor 951 02a0 8823 tst r24 952 02a2 01F0 breq .L34 953 02a4 1092 0000 sts UpdateMotor,__zero_reg__ 954 02a8 8091 0000 lds r24,beeptime 955 02ac 9091 0000 lds r25,(beeptime)+1 956 02b0 892B or r24,r25 957 02b2 01F4 brne .L19 958 02b4 2197 sbiw r28,1 959 .L19: 960 02b6 0E94 0000 call LIBFC_Polling 961 02ba 00C0 rjmp .L34 962 .L26: 963 02bc 8091 0000 lds r24,PlatinenVersion 964 02c0 8C30 cpi r24,lo8(12) 965 02c2 00F0 brlo .L23 966 02c4 8631 cpi r24,lo8(22) 967 02c6 01F4 brne .L22 968 .L23: 969 02c8 299A sbi 37-0x20,1 970 02ca 00C0 rjmp .L8 971 .L22: 972 02cc 2998 cbi 37-0x20,1 973 .L8: 974 /* epilogue: frame size=0 */ 975 02ce DF91 pop r29 976 02d0 CF91 pop r28 977 02d2 1F91 pop r17 978 02d4 FF90 pop r15 979 02d6 EF90 pop r14 980 02d8 0895 ret 981 /* epilogue end (size=6) */ 982 /* function Piep size 67 (56) */ 984 .global CalibrierMittelwert 986 CalibrierMittelwert: 987 /* prologue: frame size=0 */ 988 02da CF93 push r28 989 02dc DF93 push r29 990 /* prologue end (size=2) */ 991 02de 8091 0000 lds r24,PlatinenVersion 992 02e2 8D30 cpi r24,lo8(13) 993 02e4 01F4 brne .L36 994 02e6 0E94 0000 call SucheGyroOffset 995 .L36: 996 02ea 1092 7A00 sts 122,__zero_reg__ 997 02ee 8091 0000 lds r24,AdWertNick 998 02f2 9091 0000 lds r25,(AdWertNick)+1 999 02f6 9093 0000 sts (MesswertNick)+1,r25 1000 02fa 8093 0000 sts MesswertNick,r24 1001 02fe 8091 0000 lds r24,AdWertRoll 1002 0302 9091 0000 lds r25,(AdWertRoll)+1 1003 0306 9093 0000 sts (MesswertRoll)+1,r25 1004 030a 8093 0000 sts MesswertRoll,r24 1005 030e 8091 0000 lds r24,AdWertGier 1006 0312 9091 0000 lds r25,(AdWertGier)+1 1007 0316 9093 0000 sts (MesswertGier)+1,r25 1008 031a 8093 0000 sts MesswertGier,r24 1009 031e 2091 0000 lds r18,AdWertAccNick 1010 0322 3091 0000 lds r19,(AdWertAccNick)+1 1011 0326 C901 movw r24,r18 1012 0328 880F lsl r24 1013 032a 991F rol r25 1014 032c 880F lsl r24 1015 032e 991F rol r25 1016 0330 820F add r24,r18 1017 0332 931F adc r25,r19 1018 0334 820F add r24,r18 1019 0336 931F adc r25,r19 1020 0338 9093 0000 sts (Mittelwert_AccNick)+1,r25 1021 033c 8093 0000 sts Mittelwert_AccNick,r24 1022 0340 2091 0000 lds r18,AdWertAccRoll 1023 0344 3091 0000 lds r19,(AdWertAccRoll)+1 1024 0348 C901 movw r24,r18 1025 034a 880F lsl r24 1026 034c 991F rol r25 1027 034e 880F lsl r24 1028 0350 991F rol r25 1029 0352 820F add r24,r18 1030 0354 931F adc r25,r19 1031 0356 820F add r24,r18 1032 0358 931F adc r25,r19 1033 035a 9093 0000 sts (Mittelwert_AccRoll)+1,r25 1034 035e 8093 0000 sts Mittelwert_AccRoll,r24 1035 0362 8FEC ldi r24,lo8(-49) 1036 0364 8093 7A00 sts 122,r24 1037 0368 A0E0 ldi r26,lo8(Poti) 1038 036a B0E0 ldi r27,hi8(Poti) 1039 036c C0E0 ldi r28,lo8(EE_Parameter+5) 1040 036e D0E0 ldi r29,hi8(EE_Parameter+5) 1041 0370 97E0 ldi r25,lo8(7) 1042 .L46: 1043 0372 8991 ld r24,Y+ 1044 0374 E82F mov r30,r24 1045 0376 FF27 clr r31 1046 0378 EE0F add r30,r30 1047 037a FF1F adc r31,r31 1048 037c E050 subi r30,lo8(-(PPM_in)) 1049 037e F040 sbci r31,hi8(-(PPM_in)) 1050 0380 0190 ld __tmp_reg__,Z+ 1051 0382 F081 ld r31,Z 1052 0384 E02D mov r30,__tmp_reg__ 1053 0386 E158 subi r30,lo8(-(127)) 1054 0388 FF4F sbci r31,hi8(-(127)) 1055 038a 1E16 cp __zero_reg__,r30 1056 038c 1F06 cpc __zero_reg__,r31 1057 038e 04F0 brlt .L40 1058 0390 E0E0 ldi r30,lo8(0) 1059 0392 F0E0 ldi r31,hi8(0) 1060 0394 00C0 rjmp .L41 1061 .L40: 1062 0396 EF3F cpi r30,255 1063 0398 F105 cpc r31,__zero_reg__ 1064 039a 04F0 brlt .L41 1065 039c EFEF ldi r30,lo8(255) 1066 039e F0E0 ldi r31,hi8(255) 1067 .L41: 1068 03a0 8C91 ld r24,X 1069 03a2 282F mov r18,r24 1070 03a4 3327 clr r19 1071 03a6 E217 cp r30,r18 1072 03a8 F307 cpc r31,r19 1073 03aa 04F4 brge .L43 1074 03ac 8150 subi r24,lo8(-(-1)) 1075 03ae 00C0 rjmp .L49 1076 .L43: 1077 03b0 2E17 cp r18,r30 1078 03b2 3F07 cpc r19,r31 1079 03b4 04F4 brge .L39 1080 03b6 8F5F subi r24,lo8(-(1)) 1081 .L49: 1082 03b8 8C93 st X,r24 1083 .L39: 1084 03ba 9150 subi r25,lo8(-(-1)) 1085 03bc 1196 adiw r26,1 1086 03be 97FF sbrs r25,7 1087 03c0 00C0 rjmp .L46 1088 03c2 8091 0000 lds r24,EE_Parameter+65 1089 03c6 9927 clr r25 1090 03c8 AA27 clr r26 1091 03ca BB27 clr r27 1092 03cc BC01 movw r22,r24 1093 03ce CD01 movw r24,r26 1094 03d0 24EC ldi r18,lo8(2500) 1095 03d2 39E0 ldi r19,hi8(2500) 1096 03d4 40E0 ldi r20,hlo8(2500) 1097 03d6 50E0 ldi r21,hhi8(2500) 1098 03d8 0E94 0000 call __mulsi3 1099 03dc DC01 movw r26,r24 1100 03de CB01 movw r24,r22 1101 03e0 8093 0000 sts Umschlag180Nick,r24 1102 03e4 9093 0000 sts (Umschlag180Nick)+1,r25 1103 03e8 A093 0000 sts (Umschlag180Nick)+2,r26 1104 03ec B093 0000 sts (Umschlag180Nick)+3,r27 1105 03f0 8091 0000 lds r24,EE_Parameter+66 1106 03f4 9927 clr r25 1107 03f6 AA27 clr r26 1108 03f8 BB27 clr r27 1109 03fa BC01 movw r22,r24 1110 03fc CD01 movw r24,r26 1111 03fe 0E94 0000 call __mulsi3 1112 0402 DC01 movw r26,r24 1113 0404 CB01 movw r24,r22 1114 0406 8093 0000 sts Umschlag180Roll,r24 1115 040a 9093 0000 sts (Umschlag180Roll)+1,r25 1116 040e A093 0000 sts (Umschlag180Roll)+2,r26 1117 0412 B093 0000 sts (Umschlag180Roll)+3,r27 1118 /* epilogue: frame size=0 */ 1119 0416 DF91 pop r29 1120 0418 CF91 pop r28 1121 041a 0895 ret 1122 /* epilogue end (size=3) */ 1123 /* function CalibrierMittelwert size 161 (156) */ 1125 .section .progmem.data,"a",@progbits 1128 __c.35: 1129 0000 0A0D 4143 .string "\n\rACC not calibrated!\r\n" 1129 4320 6E6F 1129 7420 6361 1129 6C69 6272 1129 6174 6564 1130 .text 1131 .global SetNeutral 1133 SetNeutral: 1134 /* prologue: frame size=0 */ 1135 041c A0E0 ldi r26,lo8(0) 1136 041e B0E0 ldi r27,hi8(0) 1137 0420 E0E0 ldi r30,pm_lo8(1f) 1138 0422 F0E0 ldi r31,pm_hi8(1f) 1139 0424 0C94 0000 jmp __prologue_saves__+12 1140 1: 1141 /* prologue end (size=6) */ 1142 0428 882E mov r8,r24 1143 042a C0E0 ldi r28,lo8(0) 1144 042c D0E0 ldi r29,hi8(0) 1145 042e 7E01 movw r14,r28 1146 0430 6E01 movw r12,r28 1147 0432 1092 0000 sts VersionInfo+5,__zero_reg__ 1148 0436 D093 0000 sts (NeutralAccX)+1,r29 1149 043a C093 0000 sts NeutralAccX,r28 1150 043e D093 0000 sts (NeutralAccY)+1,r29 1151 0442 C093 0000 sts NeutralAccY,r28 1152 0446 D093 0000 sts (NeutralAccZ)+1,r29 1153 044a C093 0000 sts NeutralAccZ,r28 1154 044e D093 0000 sts (AdNeutralNick)+1,r29 1155 0452 C093 0000 sts AdNeutralNick,r28 1156 0456 D093 0000 sts (AdNeutralRoll)+1,r29 1157 045a C093 0000 sts AdNeutralRoll,r28 1158 045e D093 0000 sts (AdNeutralGier)+1,r29 1159 0462 C093 0000 sts AdNeutralGier,r28 1160 0466 1092 0000 sts Parameter_AchsKopplung1,__zero_reg__ 1161 046a 1092 0000 sts Parameter_AchsKopplung2,__zero_reg__ 1162 046e 1092 0000 sts ExpandBaro,__zero_reg__ 1163 0472 0E94 0000 call CalibrierMittelwert 1164 0476 84E6 ldi r24,lo8(100) 1165 0478 90E0 ldi r25,hi8(100) 1166 047a 0E94 0000 call Delay_ms_Mess 1167 047e 0E94 0000 call CalibrierMittelwert 1168 0482 8091 0000 lds r24,EE_Parameter+13 1169 0486 80FF sbrs r24,0 1170 0488 00C0 rjmp .L51 1171 048a 8091 0000 lds r24,MessLuftdruck 1172 048e 9091 0000 lds r25,(MessLuftdruck)+1 1173 0492 875B subi r24,lo8(951) 1174 0494 9340 sbci r25,hi8(951) 1175 0496 00F4 brsh .L53 1176 0498 8091 0000 lds r24,MessLuftdruck 1177 049c 9091 0000 lds r25,(MessLuftdruck)+1 1178 04a0 8E5E subi r24,lo8(750) 1179 04a2 9240 sbci r25,hi8(750) 1180 04a4 00F4 brsh .L51 1181 .L53: 1182 04a6 0E94 0000 call SucheLuftruckOffset 1183 .L51: 1184 04aa 0FE1 ldi r16,lo8(31) 1185 .L57: 1186 04ac 8AE0 ldi r24,lo8(10) 1187 04ae 90E0 ldi r25,hi8(10) 1188 04b0 0E94 0000 call Delay_ms_Mess 1189 04b4 8091 0000 lds r24,AdWertGier 1190 04b8 9091 0000 lds r25,(AdWertGier)+1 1191 04bc C80F add r28,r24 1192 04be D91F adc r29,r25 1193 04c0 8091 0000 lds r24,AdWertNick 1194 04c4 9091 0000 lds r25,(AdWertNick)+1 1195 04c8 E80E add r14,r24 1196 04ca F91E adc r15,r25 1197 04cc 8091 0000 lds r24,AdWertRoll 1198 04d0 9091 0000 lds r25,(AdWertRoll)+1 1199 04d4 C80E add r12,r24 1200 04d6 D91E adc r13,r25 1201 04d8 0150 subi r16,lo8(-(-1)) 1202 04da 07FF sbrs r16,7 1203 04dc 00C0 rjmp .L57 1204 04de 9701 movw r18,r14 1205 04e0 205F subi r18,lo8(-(16)) 1206 04e2 3F4F sbci r19,hi8(-(16)) 1207 04e4 3695 lsr r19 1208 04e6 2795 ror r18 1209 04e8 3695 lsr r19 1210 04ea 2795 ror r18 1211 04ec 3093 0000 sts (AdNeutralNick)+1,r19 1212 04f0 2093 0000 sts AdNeutralNick,r18 1213 04f4 C601 movw r24,r12 1214 04f6 4096 adiw r24,16 1215 04f8 9695 lsr r25 1216 04fa 8795 ror r24 1217 04fc 9695 lsr r25 1218 04fe 8795 ror r24 1219 0500 9093 0000 sts (AdNeutralRoll)+1,r25 1220 0504 8093 0000 sts AdNeutralRoll,r24 1221 0508 6096 adiw r28,16 1222 050a F5E0 ldi r31,5 1223 050c D695 1: lsr r29 1224 050e C795 ror r28 1225 0510 FA95 dec r31 1226 0512 01F4 brne 1b 1227 0514 D093 0000 sts (AdNeutralGier)+1,r29 1228 0518 C093 0000 sts AdNeutralGier,r28 1229 051c 9093 0000 sts (StartNeutralRoll)+1,r25 1230 0520 8093 0000 sts StartNeutralRoll,r24 1231 0524 3093 0000 sts (StartNeutralNick)+1,r19 1232 0528 2093 0000 sts StartNeutralNick,r18 1233 052c 8820 tst r8 1234 052e 01F4 brne .+2 1235 0530 00C0 rjmp .L58 1236 0532 8091 0000 lds r24,Mittelwert_AccNick 1237 0536 9091 0000 lds r25,(Mittelwert_AccNick)+1 1238 053a 97FF sbrs r25,7 1239 053c 00C0 rjmp .L59 1240 053e 9095 com r25 1241 0540 8195 neg r24 1242 0542 9F4F sbci r25,lo8(-1) 1243 .L59: 1244 0544 6CE0 ldi r22,lo8(12) 1245 0546 70E0 ldi r23,hi8(12) 1246 0548 0E94 0000 call __divmodhi4 1247 054c 9B01 movw r18,r22 1248 054e 7093 0000 sts (NeutralAccX)+1,r23 1249 0552 6093 0000 sts NeutralAccX,r22 1250 0556 8091 0000 lds r24,Mittelwert_AccRoll 1251 055a 9091 0000 lds r25,(Mittelwert_AccRoll)+1 1252 055e 97FF sbrs r25,7 1253 0560 00C0 rjmp .L60 1254 0562 9095 com r25 1255 0564 8195 neg r24 1256 0566 9F4F sbci r25,lo8(-1) 1257 .L60: 1258 0568 6CE0 ldi r22,lo8(12) 1259 056a 70E0 ldi r23,hi8(12) 1260 056c 0E94 0000 call __divmodhi4 1261 0570 7093 0000 sts (NeutralAccY)+1,r23 1262 0574 6093 0000 sts NeutralAccY,r22 1263 0578 8091 0000 lds r24,Aktuell_az 1264 057c 9091 0000 lds r25,(Aktuell_az)+1 1265 0580 9093 0000 sts (NeutralAccZ)+1,r25 1266 0584 8093 0000 sts NeutralAccZ,r24 1267 0588 B901 movw r22,r18 1268 058a 84E0 ldi r24,lo8(4) 1269 058c 90E0 ldi r25,hi8(4) 1270 058e 0E94 0000 call SetParamWord 1271 0592 6091 0000 lds r22,NeutralAccY 1272 0596 7091 0000 lds r23,(NeutralAccY)+1 1273 059a 86E0 ldi r24,lo8(6) 1274 059c 90E0 ldi r25,hi8(6) 1275 059e 0E94 0000 call SetParamWord 1276 05a2 6091 0000 lds r22,NeutralAccZ 1277 05a6 7091 0000 lds r23,(NeutralAccZ)+1 1278 05aa 88E0 ldi r24,lo8(8) 1279 05ac 90E0 ldi r25,hi8(8) 1280 05ae 0E94 0000 call SetParamWord 1281 05b2 00C0 rjmp .L61 1282 .L58: 1283 05b4 84E0 ldi r24,lo8(4) 1284 05b6 90E0 ldi r25,hi8(4) 1285 05b8 0E94 0000 call GetParamWord 1286 05bc 9093 0000 sts (NeutralAccX)+1,r25 1287 05c0 8093 0000 sts NeutralAccX,r24 1288 05c4 86E0 ldi r24,lo8(6) 1289 05c6 90E0 ldi r25,hi8(6) 1290 05c8 0E94 0000 call GetParamWord 1291 05cc 9093 0000 sts (NeutralAccY)+1,r25 1292 05d0 8093 0000 sts NeutralAccY,r24 1293 05d4 88E0 ldi r24,lo8(8) 1294 05d6 90E0 ldi r25,hi8(8) 1295 05d8 0E94 0000 call GetParamWord 1296 05dc 9C01 movw r18,r24 1297 05de 9093 0000 sts (NeutralAccZ)+1,r25 1298 05e2 8093 0000 sts NeutralAccZ,r24 1299 05e6 8091 0000 lds r24,NeutralAccX 1300 05ea 9091 0000 lds r25,(NeutralAccX)+1 1301 05ee 8150 subi r24,lo8(2049) 1302 05f0 9840 sbci r25,hi8(2049) 1303 05f2 00F4 brsh .L63 1304 05f4 8091 0000 lds r24,NeutralAccY 1305 05f8 9091 0000 lds r25,(NeutralAccY)+1 1306 05fc 8150 subi r24,lo8(2049) 1307 05fe 9840 sbci r25,hi8(2049) 1308 0600 00F4 brsh .L63 1309 0602 2150 subi r18,lo8(1025) 1310 0604 3440 sbci r19,hi8(1025) 1311 0606 00F0 brlo .L61 1312 .L63: 1313 0608 80E0 ldi r24,lo8(__c.35) 1314 060a 90E0 ldi r25,hi8(__c.35) 1315 060c 9F93 push r25 1316 060e 8F93 push r24 1317 0610 80E0 ldi r24,lo8(pm(uart_putchar)) 1318 0612 90E0 ldi r25,hi8(pm(uart_putchar)) 1319 0614 9F93 push r25 1320 0616 8F93 push r24 1321 0618 E091 0000 lds r30,_printf_P 1322 061c F091 0000 lds r31,(_printf_P)+1 1323 0620 0995 icall 1324 0622 8091 0000 lds r24,Mittelwert_AccNick 1325 0626 9091 0000 lds r25,(Mittelwert_AccNick)+1 1326 062a 97FF sbrs r25,7 1327 062c 00C0 rjmp .L64 1328 062e 9095 com r25 1329 0630 8195 neg r24 1330 0632 9F4F sbci r25,lo8(-1) 1331 .L64: 1332 0634 6CE0 ldi r22,lo8(12) 1333 0636 70E0 ldi r23,hi8(12) 1334 0638 0E94 0000 call __divmodhi4 1335 063c 7093 0000 sts (NeutralAccX)+1,r23 1336 0640 6093 0000 sts NeutralAccX,r22 1337 0644 8091 0000 lds r24,Mittelwert_AccRoll 1338 0648 9091 0000 lds r25,(Mittelwert_AccRoll)+1 1339 064c 97FF sbrs r25,7 1340 064e 00C0 rjmp .L65 1341 0650 9095 com r25 1342 0652 8195 neg r24 1343 0654 9F4F sbci r25,lo8(-1) 1344 .L65: 1345 0656 6CE0 ldi r22,lo8(12) 1346 0658 70E0 ldi r23,hi8(12) 1347 065a 0E94 0000 call __divmodhi4 1348 065e 7093 0000 sts (NeutralAccY)+1,r23 1349 0662 6093 0000 sts NeutralAccY,r22 1350 0666 8091 0000 lds r24,Aktuell_az 1351 066a 9091 0000 lds r25,(Aktuell_az)+1 1352 066e 9093 0000 sts (NeutralAccZ)+1,r25 1353 0672 8093 0000 sts NeutralAccZ,r24 1354 0676 0F90 pop __tmp_reg__ 1355 0678 0F90 pop __tmp_reg__ 1356 067a 0F90 pop __tmp_reg__ 1357 067c 0F90 pop __tmp_reg__ 1358 .L61: 1359 067e 1092 0000 sts (MesswertNick)+1,__zero_reg__ 1360 0682 1092 0000 sts MesswertNick,__zero_reg__ 1361 0686 1092 0000 sts (MesswertRoll)+1,__zero_reg__ 1362 068a 1092 0000 sts MesswertRoll,__zero_reg__ 1363 068e 1092 0000 sts (MesswertGier)+1,__zero_reg__ 1364 0692 1092 0000 sts MesswertGier,__zero_reg__ 1365 0696 84E6 ldi r24,lo8(100) 1366 0698 90E0 ldi r25,hi8(100) 1367 069a 0E94 0000 call Delay_ms_Mess 1368 069e 8091 0000 lds r24,AdWertAccNick 1369 06a2 9091 0000 lds r25,(AdWertAccNick)+1 1370 06a6 9C01 movw r18,r24 1371 06a8 220F lsl r18 1372 06aa 331F rol r19 1373 06ac 220F lsl r18 1374 06ae 331F rol r19 1375 06b0 280F add r18,r24 1376 06b2 391F adc r19,r25 1377 06b4 280F add r18,r24 1378 06b6 391F adc r19,r25 1379 06b8 3093 0000 sts (Mittelwert_AccNick)+1,r19 1380 06bc 2093 0000 sts Mittelwert_AccNick,r18 1381 06c0 8091 0000 lds r24,AdWertAccRoll 1382 06c4 9091 0000 lds r25,(AdWertAccRoll)+1 1383 06c8 8C01 movw r16,r24 1384 06ca 000F lsl r16 1385 06cc 111F rol r17 1386 06ce 000F lsl r16 1387 06d0 111F rol r17 1388 06d2 080F add r16,r24 1389 06d4 191F adc r17,r25 1390 06d6 080F add r16,r24 1391 06d8 191F adc r17,r25 1392 06da 1093 0000 sts (Mittelwert_AccRoll)+1,r17 1393 06de 0093 0000 sts Mittelwert_AccRoll,r16 1394 06e2 8091 0000 lds r24,EE_Parameter+28 1395 06e6 C82E mov r12,r24 1396 06e8 DD24 clr r13 1397 06ea EE24 clr r14 1398 06ec FF24 clr r15 1399 06ee 4427 clr r20 1400 06f0 37FD sbrc r19,7 1401 06f2 4095 com r20 1402 06f4 542F mov r21,r20 1403 06f6 C701 movw r24,r14 1404 06f8 B601 movw r22,r12 1405 06fa 0E94 0000 call __mulsi3 1406 06fe 4B01 movw r8,r22 1407 0700 5C01 movw r10,r24 1408 0702 6093 0000 sts IntegralNick,r22 1409 0706 7093 0000 sts (IntegralNick)+1,r23 1410 070a 8093 0000 sts (IntegralNick)+2,r24 1411 070e 9093 0000 sts (IntegralNick)+3,r25 1412 0712 9801 movw r18,r16 1413 0714 4427 clr r20 1414 0716 37FD sbrc r19,7 1415 0718 4095 com r20 1416 071a 542F mov r21,r20 1417 071c C701 movw r24,r14 1418 071e B601 movw r22,r12 1419 0720 0E94 0000 call __mulsi3 1420 0724 DC01 movw r26,r24 1421 0726 CB01 movw r24,r22 1422 0728 8093 0000 sts IntegralRoll,r24 1423 072c 9093 0000 sts (IntegralRoll)+1,r25 1424 0730 A093 0000 sts (IntegralRoll)+2,r26 1425 0734 B093 0000 sts (IntegralRoll)+3,r27 1426 0738 8092 0000 sts Mess_IntegralNick,r8 1427 073c 9092 0000 sts (Mess_IntegralNick)+1,r9 1428 0740 A092 0000 sts (Mess_IntegralNick)+2,r10 1429 0744 B092 0000 sts (Mess_IntegralNick)+3,r11 1430 0748 8093 0000 sts Mess_IntegralRoll,r24 1431 074c 9093 0000 sts (Mess_IntegralRoll)+1,r25 1432 0750 A093 0000 sts (Mess_IntegralRoll)+2,r26 1433 0754 B093 0000 sts (Mess_IntegralRoll)+3,r27 1434 0758 1092 0000 sts Mess_Integral_Gier,__zero_reg__ 1435 075c 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ 1436 0760 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ 1437 0764 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ 1438 0768 8091 0000 lds r24,Luftdruck 1439 076c 9091 0000 lds r25,(Luftdruck)+1 1440 0770 A091 0000 lds r26,(Luftdruck)+2 1441 0774 B091 0000 lds r27,(Luftdruck)+3 1442 0778 9093 0000 sts (StartLuftdruck)+1,r25 1443 077c 8093 0000 sts StartLuftdruck,r24 1444 0780 1092 0000 sts (VarioMeter)+1,__zero_reg__ 1445 0784 1092 0000 sts VarioMeter,__zero_reg__ 1446 0788 1092 0000 sts Mess_Integral_Hoch,__zero_reg__ 1447 078c 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__ 1448 0790 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__ 1449 0794 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__ 1450 0798 0091 0000 lds r16,KompassValue 1451 079c 1091 0000 lds r17,(KompassValue)+1 1452 07a0 1093 0000 sts (KompassSollWert)+1,r17 1453 07a4 0093 0000 sts KompassSollWert,r16 1454 07a8 84E6 ldi r24,lo8(100) 1455 07aa 90E0 ldi r25,hi8(100) 1456 07ac 9093 0000 sts (KompassSignalSchlecht)+1,r25 1457 07b0 8093 0000 sts KompassSignalSchlecht,r24 1458 07b4 82E3 ldi r24,lo8(50) 1459 07b6 90E0 ldi r25,hi8(50) 1460 07b8 9093 0000 sts (beeptime)+1,r25 1461 07bc 8093 0000 sts beeptime,r24 1462 07c0 8091 0000 lds r24,EE_Parameter+65 1463 07c4 9927 clr r25 1464 07c6 AA27 clr r26 1465 07c8 BB27 clr r27 1466 07ca BC01 movw r22,r24 1467 07cc CD01 movw r24,r26 1468 07ce 24EC ldi r18,lo8(2500) 1469 07d0 39E0 ldi r19,hi8(2500) 1470 07d2 40E0 ldi r20,hlo8(2500) 1471 07d4 50E0 ldi r21,hhi8(2500) 1472 07d6 0E94 0000 call __mulsi3 1473 07da DC01 movw r26,r24 1474 07dc CB01 movw r24,r22 1475 07de 8856 subi r24,lo8(-(15000)) 1476 07e0 954C sbci r25,hi8(-(15000)) 1477 07e2 AF4F sbci r26,hlo8(-(15000)) 1478 07e4 BF4F sbci r27,hhi8(-(15000)) 1479 07e6 8093 0000 sts Umschlag180Nick,r24 1480 07ea 9093 0000 sts (Umschlag180Nick)+1,r25 1481 07ee A093 0000 sts (Umschlag180Nick)+2,r26 1482 07f2 B093 0000 sts (Umschlag180Nick)+3,r27 1483 07f6 8091 0000 lds r24,EE_Parameter+66 1484 07fa 9927 clr r25 1485 07fc AA27 clr r26 1486 07fe BB27 clr r27 1487 0800 BC01 movw r22,r24 1488 0802 CD01 movw r24,r26 1489 0804 0E94 0000 call __mulsi3 1490 0808 DC01 movw r26,r24 1491 080a CB01 movw r24,r22 1492 080c 8856 subi r24,lo8(-(15000)) 1493 080e 954C sbci r25,hi8(-(15000)) 1494 0810 AF4F sbci r26,hlo8(-(15000)) 1495 0812 BF4F sbci r27,hhi8(-(15000)) 1496 0814 8093 0000 sts Umschlag180Roll,r24 1497 0818 9093 0000 sts (Umschlag180Roll)+1,r25 1498 081c A093 0000 sts (Umschlag180Roll)+2,r26 1499 0820 B093 0000 sts (Umschlag180Roll)+3,r27 1500 0824 1092 0000 sts (ExternHoehenValue)+1,__zero_reg__ 1501 0828 1092 0000 sts ExternHoehenValue,__zero_reg__ 1502 082c C801 movw r24,r16 1503 082e AA27 clr r26 1504 0830 97FD sbrc r25,7 1505 0832 A095 com r26 1506 0834 BA2F mov r27,r26 1507 0836 2091 0000 lds r18,GIER_GRAD_FAKTOR 1508 083a 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 1509 083e 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 1510 0842 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 1511 0846 BC01 movw r22,r24 1512 0848 CD01 movw r24,r26 1513 084a 0E94 0000 call __mulsi3 1514 084e DC01 movw r26,r24 1515 0850 CB01 movw r24,r22 1516 0852 8093 0000 sts ErsatzKompass,r24 1517 0856 9093 0000 sts (ErsatzKompass)+1,r25 1518 085a A093 0000 sts (ErsatzKompass)+2,r26 1519 085e B093 0000 sts (ErsatzKompass)+3,r27 1520 0862 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ 1521 0866 1092 0000 sts GierGyroFehler,__zero_reg__ 1522 086a 0E94 0000 call LED_Init 1523 086e 8091 0000 lds r24,FC_StatusFlags 1524 0872 8460 ori r24,lo8(4) 1525 0874 8093 0000 sts FC_StatusFlags,r24 1526 0878 8FEF ldi r24,lo8(-1) 1527 087a 8093 0000 sts FromNaviCtrl_Value,r24 1528 087e 1092 0000 sts FromNaviCtrl_Value+1,__zero_reg__ 1529 0882 80E2 ldi r24,lo8(32) 1530 0884 8093 0000 sts FromNaviCtrl_Value+2,r24 1531 0888 C0E0 ldi r28,lo8(Poti) 1532 088a D0E0 ldi r29,hi8(Poti) 1533 088c A0E0 ldi r26,lo8(EE_Parameter+5) 1534 088e B0E0 ldi r27,hi8(EE_Parameter+5) 1535 0890 07E0 ldi r16,lo8(7) 1536 .L69: 1537 0892 8D91 ld r24,X+ 1538 0894 E82F mov r30,r24 1539 0896 FF27 clr r31 1540 0898 EE0F add r30,r30 1541 089a FF1F adc r31,r31 1542 089c E050 subi r30,lo8(-(PPM_in)) 1543 089e F040 sbci r31,hi8(-(PPM_in)) 1544 08a0 8081 ld r24,Z 1545 08a2 9181 ldd r25,Z+1 1546 08a4 8158 subi r24,lo8(-(127)) 1547 08a6 8993 st Y+,r24 1548 08a8 0150 subi r16,lo8(-(-1)) 1549 08aa 07FF sbrs r16,7 1550 08ac 00C0 rjmp .L69 1551 08ae 84E6 ldi r24,lo8(100) 1552 08b0 8093 0000 sts SenderOkay,r24 1553 08b4 8091 0000 lds r24,ServoActive 1554 08b8 8823 tst r24 1555 08ba 01F0 breq .L70 1556 08bc 579A sbi 42-0x20,7 1557 08be 00C0 rjmp .L71 1558 .L70: 1559 08c0 80E0 ldi r24,lo8(4352) 1560 08c2 91E1 ldi r25,hi8(4352) 1561 08c4 9093 0000 sts (NickServoValue)+1,r25 1562 08c8 8093 0000 sts NickServoValue,r24 1563 .L71: 1564 08cc 8091 0000 lds r24,AdNeutralNick 1565 08d0 9091 0000 lds r25,(AdNeutralNick)+1 1566 08d4 8056 subi r24,lo8(-(-2400)) 1567 08d6 9940 sbci r25,hi8(-(-2400)) 1568 08d8 815C subi r24,lo8(11201) 1569 08da 9B42 sbci r25,hi8(11201) 1570 08dc 00F0 brlo .L72 1571 08de 8091 0000 lds r24,VersionInfo+5 1572 08e2 8160 ori r24,lo8(1) 1573 08e4 8093 0000 sts VersionInfo+5,r24 1574 .L72: 1575 08e8 8091 0000 lds r24,AdNeutralRoll 1576 08ec 9091 0000 lds r25,(AdNeutralRoll)+1 1577 08f0 8056 subi r24,lo8(-(-2400)) 1578 08f2 9940 sbci r25,hi8(-(-2400)) 1579 08f4 815C subi r24,lo8(11201) 1580 08f6 9B42 sbci r25,hi8(11201) 1581 08f8 00F0 brlo .L73 1582 08fa 8091 0000 lds r24,VersionInfo+5 1583 08fe 8260 ori r24,lo8(2) 1584 0900 8093 0000 sts VersionInfo+5,r24 1585 .L73: 1586 0904 8091 0000 lds r24,AdNeutralGier 1587 0908 9091 0000 lds r25,(AdNeutralGier)+1 1588 090c 8C52 subi r24,lo8(-(-300)) 1589 090e 9140 sbci r25,hi8(-(-300)) 1590 0910 8957 subi r24,lo8(1401) 1591 0912 9540 sbci r25,hi8(1401) 1592 0914 00F0 brlo .L74 1593 0916 8091 0000 lds r24,VersionInfo+5 1594 091a 8460 ori r24,lo8(4) 1595 091c 8093 0000 sts VersionInfo+5,r24 1596 .L74: 1597 0920 8091 0000 lds r24,NeutralAccX 1598 0924 9091 0000 lds r25,(NeutralAccX)+1 1599 0928 8C52 subi r24,lo8(-(-300)) 1600 092a 9140 sbci r25,hi8(-(-300)) 1601 092c 835C subi r24,lo8(451) 1602 092e 9140 sbci r25,hi8(451) 1603 0930 00F0 brlo .L75 1604 0932 8091 0000 lds r24,VersionInfo+5 1605 0936 8860 ori r24,lo8(8) 1606 0938 8093 0000 sts VersionInfo+5,r24 1607 .L75: 1608 093c 8091 0000 lds r24,NeutralAccY 1609 0940 9091 0000 lds r25,(NeutralAccY)+1 1610 0944 8C52 subi r24,lo8(-(-300)) 1611 0946 9140 sbci r25,hi8(-(-300)) 1612 0948 835C subi r24,lo8(451) 1613 094a 9140 sbci r25,hi8(451) 1614 094c 00F0 brlo .L76 1615 094e 8091 0000 lds r24,VersionInfo+5 1616 0952 8061 ori r24,lo8(16) 1617 0954 8093 0000 sts VersionInfo+5,r24 1618 .L76: 1619 0958 8091 0000 lds r24,NeutralAccZ 1620 095c 9091 0000 lds r25,(NeutralAccZ)+1 1621 0960 8050 subi r24,lo8(-(-512)) 1622 0962 9240 sbci r25,hi8(-(-512)) 1623 0964 8355 subi r24,lo8(339) 1624 0966 9140 sbci r25,hi8(339) 1625 0968 00F0 brlo .L77 1626 096a 8091 0000 lds r24,VersionInfo+5 1627 096e 8062 ori r24,lo8(32) 1628 0970 8093 0000 sts VersionInfo+5,r24 1629 .L77: 1630 0974 86E4 ldi r24,lo8(70) 1631 0976 8093 0000 sts carefree_old,r24 1632 097a 0E94 0000 call LIBFC_HoTT_Clear 1633 /* epilogue: frame size=0 */ 1634 097e ECE0 ldi r30,12 1635 0980 CDB7 in r28,__SP_L__ 1636 0982 DEB7 in r29,__SP_H__ 1637 0984 0C94 0000 jmp __epilogue_restores__+12 1638 /* epilogue end (size=5) */ 1639 /* function SetNeutral size 705 (694) */ 1641 .lcomm tmpl.27,4 1642 .lcomm tmpl2.28,4 1643 .lcomm tmpl3.29,4 1644 .lcomm tmpl4.30,4 1645 .lcomm oldNick.31,2 1646 .lcomm oldRoll.32,2 1647 .lcomm d2Roll.33,2 1648 .lcomm d2Nick.34,2 1649 .global Mittelwert 1651 Mittelwert: 1652 /* prologue: frame size=19 */ 1653 0988 A3E1 ldi r26,lo8(19) 1654 098a B0E0 ldi r27,hi8(19) 1655 098c E0E0 ldi r30,pm_lo8(1f) 1656 098e F0E0 ldi r31,pm_hi8(1f) 1657 0990 0C94 0000 jmp __prologue_saves__+0 1658 1: 1659 /* prologue end (size=6) */ 1660 0994 8091 0000 lds r24,AdNeutralGier 1661 0998 9091 0000 lds r25,(AdNeutralGier)+1 1662 099c 2091 0000 lds r18,AdWertGier 1663 09a0 3091 0000 lds r19,(AdWertGier)+1 1664 09a4 821B sub r24,r18 1665 09a6 930B sbc r25,r19 1666 09a8 9093 0000 sts (MesswertGier)+1,r25 1667 09ac 8093 0000 sts MesswertGier,r24 1668 09b0 8091 0000 lds r24,AdWertNickFilter 1669 09b4 9091 0000 lds r25,(AdWertNickFilter)+1 1670 09b8 97FD sbrc r25,7 1671 09ba 0796 adiw r24,7 1672 .L83: 1673 09bc 9C01 movw r18,r24 1674 09be 13E0 ldi r17,3 1675 09c0 3595 1: asr r19 1676 09c2 2795 ror r18 1677 09c4 1A95 dec r17 1678 09c6 01F4 brne 1b 1679 09c8 3093 0000 sts (MesswertNick)+1,r19 1680 09cc 2093 0000 sts MesswertNick,r18 1681 09d0 8091 0000 lds r24,AdWertRollFilter 1682 09d4 9091 0000 lds r25,(AdWertRollFilter)+1 1683 09d8 97FD sbrc r25,7 1684 09da 0796 adiw r24,7 1685 .L84: 1686 09dc B3E0 ldi r27,3 1687 09de 9595 1: asr r25 1688 09e0 8795 ror r24 1689 09e2 BA95 dec r27 1690 09e4 01F4 brne 1b 1691 09e6 9093 0000 sts (MesswertRoll)+1,r25 1692 09ea 8093 0000 sts MesswertRoll,r24 1693 09ee 3093 0000 sts (RohMesswertNick)+1,r19 1694 09f2 2093 0000 sts RohMesswertNick,r18 1695 09f6 9093 0000 sts (RohMesswertRoll)+1,r25 1696 09fa 8093 0000 sts RohMesswertRoll,r24 1697 09fe 8091 0000 lds r24,Mittelwert_AccNick 1698 0a02 9091 0000 lds r25,(Mittelwert_AccNick)+1 1699 0a06 AC01 movw r20,r24 1700 0a08 440F lsl r20 1701 0a0a 551F rol r21 1702 0a0c 480F add r20,r24 1703 0a0e 591F adc r21,r25 1704 0a10 2091 0000 lds r18,AdWertAccNick 1705 0a14 3091 0000 lds r19,(AdWertAccNick)+1 1706 0a18 C901 movw r24,r18 1707 0a1a 880F lsl r24 1708 0a1c 991F rol r25 1709 0a1e 880F lsl r24 1710 0a20 991F rol r25 1711 0a22 820F add r24,r18 1712 0a24 931F adc r25,r19 1713 0a26 820F add r24,r18 1714 0a28 931F adc r25,r19 1715 0a2a 480F add r20,r24 1716 0a2c 591F adc r21,r25 1717 0a2e 57FF sbrs r21,7 1718 0a30 00C0 rjmp .L85 1719 0a32 4D5F subi r20,lo8(-(3)) 1720 0a34 5F4F sbci r21,hi8(-(3)) 1721 .L85: 1722 0a36 5595 asr r21 1723 0a38 4795 ror r20 1724 0a3a 5595 asr r21 1725 0a3c 4795 ror r20 1726 0a3e 5093 0000 sts (Mittelwert_AccNick)+1,r21 1727 0a42 4093 0000 sts Mittelwert_AccNick,r20 1728 0a46 8091 0000 lds r24,Mittelwert_AccRoll 1729 0a4a 9091 0000 lds r25,(Mittelwert_AccRoll)+1 1730 0a4e AC01 movw r20,r24 1731 0a50 440F lsl r20 1732 0a52 551F rol r21 1733 0a54 480F add r20,r24 1734 0a56 591F adc r21,r25 1735 0a58 2091 0000 lds r18,AdWertAccRoll 1736 0a5c 3091 0000 lds r19,(AdWertAccRoll)+1 1737 0a60 C901 movw r24,r18 1738 0a62 880F lsl r24 1739 0a64 991F rol r25 1740 0a66 880F lsl r24 1741 0a68 991F rol r25 1742 0a6a 820F add r24,r18 1743 0a6c 931F adc r25,r19 1744 0a6e 820F add r24,r18 1745 0a70 931F adc r25,r19 1746 0a72 480F add r20,r24 1747 0a74 591F adc r21,r25 1748 0a76 57FF sbrs r21,7 1749 0a78 00C0 rjmp .L86 1750 0a7a 4D5F subi r20,lo8(-(3)) 1751 0a7c 5F4F sbci r21,hi8(-(3)) 1752 .L86: 1753 0a7e 5595 asr r21 1754 0a80 4795 ror r20 1755 0a82 5595 asr r21 1756 0a84 4795 ror r20 1757 0a86 5093 0000 sts (Mittelwert_AccRoll)+1,r21 1758 0a8a 4093 0000 sts Mittelwert_AccRoll,r20 1759 0a8e 2091 0000 lds r18,AdWertAccNick 1760 0a92 3091 0000 lds r19,(AdWertAccNick)+1 1761 0a96 C901 movw r24,r18 1762 0a98 880F lsl r24 1763 0a9a 991F rol r25 1764 0a9c 880F lsl r24 1765 0a9e 991F rol r25 1766 0aa0 820F add r24,r18 1767 0aa2 931F adc r25,r19 1768 0aa4 820F add r24,r18 1769 0aa6 931F adc r25,r19 1770 0aa8 9C01 movw r18,r24 1771 0aaa 4427 clr r20 1772 0aac 37FD sbrc r19,7 1773 0aae 4095 com r20 1774 0ab0 542F mov r21,r20 1775 0ab2 8091 0000 lds r24,IntegralAccNick 1776 0ab6 9091 0000 lds r25,(IntegralAccNick)+1 1777 0aba A091 0000 lds r26,(IntegralAccNick)+2 1778 0abe B091 0000 lds r27,(IntegralAccNick)+3 1779 0ac2 820F add r24,r18 1780 0ac4 931F adc r25,r19 1781 0ac6 A41F adc r26,r20 1782 0ac8 B51F adc r27,r21 1783 0aca 8093 0000 sts IntegralAccNick,r24 1784 0ace 9093 0000 sts (IntegralAccNick)+1,r25 1785 0ad2 A093 0000 sts (IntegralAccNick)+2,r26 1786 0ad6 B093 0000 sts (IntegralAccNick)+3,r27 1787 0ada 2091 0000 lds r18,AdWertAccRoll 1788 0ade 3091 0000 lds r19,(AdWertAccRoll)+1 1789 0ae2 C901 movw r24,r18 1790 0ae4 880F lsl r24 1791 0ae6 991F rol r25 1792 0ae8 880F lsl r24 1793 0aea 991F rol r25 1794 0aec 820F add r24,r18 1795 0aee 931F adc r25,r19 1796 0af0 820F add r24,r18 1797 0af2 931F adc r25,r19 1798 0af4 9C01 movw r18,r24 1799 0af6 4427 clr r20 1800 0af8 37FD sbrc r19,7 1801 0afa 4095 com r20 1802 0afc 542F mov r21,r20 1803 0afe 8091 0000 lds r24,IntegralAccRoll 1804 0b02 9091 0000 lds r25,(IntegralAccRoll)+1 1805 0b06 A091 0000 lds r26,(IntegralAccRoll)+2 1806 0b0a B091 0000 lds r27,(IntegralAccRoll)+3 1807 0b0e 820F add r24,r18 1808 0b10 931F adc r25,r19 1809 0b12 A41F adc r26,r20 1810 0b14 B51F adc r27,r21 1811 0b16 8093 0000 sts IntegralAccRoll,r24 1812 0b1a 9093 0000 sts (IntegralAccRoll)+1,r25 1813 0b1e A093 0000 sts (IntegralAccRoll)+2,r26 1814 0b22 B093 0000 sts (IntegralAccRoll)+3,r27 1815 0b26 8091 0000 lds r24,NaviAccNick 1816 0b2a 9091 0000 lds r25,(NaviAccNick)+1 1817 0b2e 2091 0000 lds r18,AdWertAccNick 1818 0b32 3091 0000 lds r19,(AdWertAccNick)+1 1819 0b36 820F add r24,r18 1820 0b38 931F adc r25,r19 1821 0b3a 9093 0000 sts (NaviAccNick)+1,r25 1822 0b3e 8093 0000 sts NaviAccNick,r24 1823 0b42 8091 0000 lds r24,NaviAccRoll 1824 0b46 9091 0000 lds r25,(NaviAccRoll)+1 1825 0b4a 2091 0000 lds r18,AdWertAccRoll 1826 0b4e 3091 0000 lds r19,(AdWertAccRoll)+1 1827 0b52 820F add r24,r18 1828 0b54 931F adc r25,r19 1829 0b56 9093 0000 sts (NaviAccRoll)+1,r25 1830 0b5a 8093 0000 sts NaviAccRoll,r24 1831 0b5e 8091 0000 lds r24,NaviCntAcc 1832 0b62 9091 0000 lds r25,(NaviCntAcc)+1 1833 0b66 0196 adiw r24,1 1834 0b68 9093 0000 sts (NaviCntAcc)+1,r25 1835 0b6c 8093 0000 sts NaviCntAcc,r24 1836 0b70 8091 0000 lds r24,Aktuell_az 1837 0b74 9091 0000 lds r25,(Aktuell_az)+1 1838 0b78 2091 0000 lds r18,NeutralAccZ 1839 0b7c 3091 0000 lds r19,(NeutralAccZ)+1 1840 0b80 821B sub r24,r18 1841 0b82 930B sbc r25,r19 1842 0b84 9C01 movw r18,r24 1843 0b86 4427 clr r20 1844 0b88 37FD sbrc r19,7 1845 0b8a 4095 com r20 1846 0b8c 542F mov r21,r20 1847 0b8e 8091 0000 lds r24,IntegralAccZ 1848 0b92 9091 0000 lds r25,(IntegralAccZ)+1 1849 0b96 A091 0000 lds r26,(IntegralAccZ)+2 1850 0b9a B091 0000 lds r27,(IntegralAccZ)+3 1851 0b9e 820F add r24,r18 1852 0ba0 931F adc r25,r19 1853 0ba2 A41F adc r26,r20 1854 0ba4 B51F adc r27,r21 1855 0ba6 8093 0000 sts IntegralAccZ,r24 1856 0baa 9093 0000 sts (IntegralAccZ)+1,r25 1857 0bae A093 0000 sts (IntegralAccZ)+2,r26 1858 0bb2 B093 0000 sts (IntegralAccZ)+3,r27 1859 0bb6 8FEC ldi r24,lo8(-49) 1860 0bb8 8093 7A00 sts 122,r24 1861 0bbc 1092 0000 sts AdReady,__zero_reg__ 1862 0bc0 2091 0000 lds r18,Mess_IntegralRoll 1863 0bc4 3091 0000 lds r19,(Mess_IntegralRoll)+1 1864 0bc8 4091 0000 lds r20,(Mess_IntegralRoll)+2 1865 0bcc 5091 0000 lds r21,(Mess_IntegralRoll)+3 1866 0bd0 2987 std Y+9,r18 1867 0bd2 3A87 std Y+10,r19 1868 0bd4 4B87 std Y+11,r20 1869 0bd6 5C87 std Y+12,r21 1870 0bd8 2954 subi r18,lo8(93001) 1871 0bda 3B46 sbci r19,hi8(93001) 1872 0bdc 4140 sbci r20,hlo8(93001) 1873 0bde 5040 sbci r21,hhi8(93001) 1874 0be0 04F0 brlt .L87 1875 0be2 28E4 ldi r18,lo8(93000) 1876 0be4 3BE6 ldi r19,hi8(93000) 1877 0be6 41E0 ldi r20,hlo8(93000) 1878 0be8 50E0 ldi r21,hhi8(93000) 1879 0bea 00C0 rjmp .L167 1880 .L87: 1881 0bec 8985 ldd r24,Y+9 1882 0bee 9A85 ldd r25,Y+10 1883 0bf0 AB85 ldd r26,Y+11 1884 0bf2 BC85 ldd r27,Y+12 1885 0bf4 885B subi r24,lo8(-93000) 1886 0bf6 9449 sbci r25,hi8(-93000) 1887 0bf8 AE4F sbci r26,hlo8(-93000) 1888 0bfa BF4F sbci r27,hhi8(-93000) 1889 0bfc 04F4 brge .L89 1890 0bfe 28EB ldi r18,lo8(-93000) 1891 0c00 34E9 ldi r19,hi8(-93000) 1892 0c02 4EEF ldi r20,hlo8(-93000) 1893 0c04 5FEF ldi r21,hhi8(-93000) 1894 .L167: 1895 0c06 2D83 std Y+5,r18 1896 0c08 3E83 std Y+6,r19 1897 0c0a 4F83 std Y+7,r20 1898 0c0c 5887 std Y+8,r21 1899 0c0e 00C0 rjmp .L88 1900 .L89: 1901 0c10 8985 ldd r24,Y+9 1902 0c12 9A85 ldd r25,Y+10 1903 0c14 AB85 ldd r26,Y+11 1904 0c16 BC85 ldd r27,Y+12 1905 0c18 8D83 std Y+5,r24 1906 0c1a 9E83 std Y+6,r25 1907 0c1c AF83 std Y+7,r26 1908 0c1e B887 std Y+8,r27 1909 .L88: 1910 0c20 2091 0000 lds r18,Mess_IntegralNick 1911 0c24 3091 0000 lds r19,(Mess_IntegralNick)+1 1912 0c28 4091 0000 lds r20,(Mess_IntegralNick)+2 1913 0c2c 5091 0000 lds r21,(Mess_IntegralNick)+3 1914 0c30 2D87 std Y+13,r18 1915 0c32 3E87 std Y+14,r19 1916 0c34 4F87 std Y+15,r20 1917 0c36 588B std Y+16,r21 1918 0c38 2954 subi r18,lo8(93001) 1919 0c3a 3B46 sbci r19,hi8(93001) 1920 0c3c 4140 sbci r20,hlo8(93001) 1921 0c3e 5040 sbci r21,hhi8(93001) 1922 0c40 04F0 brlt .L91 1923 0c42 28E4 ldi r18,lo8(93000) 1924 0c44 3BE6 ldi r19,hi8(93000) 1925 0c46 41E0 ldi r20,hlo8(93000) 1926 0c48 50E0 ldi r21,hhi8(93000) 1927 0c4a 00C0 rjmp .L168 1928 .L91: 1929 0c4c 8D85 ldd r24,Y+13 1930 0c4e 9E85 ldd r25,Y+14 1931 0c50 AF85 ldd r26,Y+15 1932 0c52 B889 ldd r27,Y+16 1933 0c54 885B subi r24,lo8(-93000) 1934 0c56 9449 sbci r25,hi8(-93000) 1935 0c58 AE4F sbci r26,hlo8(-93000) 1936 0c5a BF4F sbci r27,hhi8(-93000) 1937 0c5c 04F4 brge .L93 1938 0c5e 28EB ldi r18,lo8(-93000) 1939 0c60 34E9 ldi r19,hi8(-93000) 1940 0c62 4EEF ldi r20,hlo8(-93000) 1941 0c64 5FEF ldi r21,hhi8(-93000) 1942 .L168: 1943 0c66 2983 std Y+1,r18 1944 0c68 3A83 std Y+2,r19 1945 0c6a 4B83 std Y+3,r20 1946 0c6c 5C83 std Y+4,r21 1947 0c6e 00C0 rjmp .L92 1948 .L93: 1949 0c70 8D85 ldd r24,Y+13 1950 0c72 9E85 ldd r25,Y+14 1951 0c74 AF85 ldd r26,Y+15 1952 0c76 B889 ldd r27,Y+16 1953 0c78 8983 std Y+1,r24 1954 0c7a 9A83 std Y+2,r25 1955 0c7c AB83 std Y+3,r26 1956 0c7e BC83 std Y+4,r27 1957 .L92: 1958 0c80 A091 0000 lds r26,MesswertGier 1959 0c84 B091 0000 lds r27,(MesswertGier)+1 1960 0c88 BB8B std Y+19,r27 1961 0c8a AA8B std Y+18,r26 1962 0c8c FD01 movw r30,r26 1963 0c8e CF01 movw r24,r30 1964 0c90 AA27 clr r26 1965 0c92 97FD sbrc r25,7 1966 0c94 A095 com r26 1967 0c96 BA2F mov r27,r26 1968 0c98 A090 0000 lds r10,Mess_Integral_Gier 1969 0c9c B090 0000 lds r11,(Mess_Integral_Gier)+1 1970 0ca0 C090 0000 lds r12,(Mess_Integral_Gier)+2 1971 0ca4 D090 0000 lds r13,(Mess_Integral_Gier)+3 1972 0ca8 A80E add r10,r24 1973 0caa B91E adc r11,r25 1974 0cac CA1E adc r12,r26 1975 0cae DB1E adc r13,r27 1976 0cb0 A092 0000 sts Mess_Integral_Gier,r10 1977 0cb4 B092 0000 sts (Mess_Integral_Gier)+1,r11 1978 0cb8 C092 0000 sts (Mess_Integral_Gier)+2,r12 1979 0cbc D092 0000 sts (Mess_Integral_Gier)+3,r13 1980 0cc0 E090 0000 lds r14,ErsatzKompass 1981 0cc4 F090 0000 lds r15,(ErsatzKompass)+1 1982 0cc8 0091 0000 lds r16,(ErsatzKompass)+2 1983 0ccc 1091 0000 lds r17,(ErsatzKompass)+3 1984 0cd0 E80E add r14,r24 1985 0cd2 F91E adc r15,r25 1986 0cd4 0A1F adc r16,r26 1987 0cd6 1B1F adc r17,r27 1988 0cd8 E092 0000 sts ErsatzKompass,r14 1989 0cdc F092 0000 sts (ErsatzKompass)+1,r15 1990 0ce0 0093 0000 sts (ErsatzKompass)+2,r16 1991 0ce4 1093 0000 sts (ErsatzKompass)+3,r17 1992 0ce8 F091 0000 lds r31,Looping_Nick 1993 0cec F98B std Y+17,r31 1994 0cee FF23 tst r31 1995 0cf0 01F0 breq .+2 1996 0cf2 00C0 rjmp .L95 1997 0cf4 8091 0000 lds r24,Looping_Roll 1998 0cf8 8823 tst r24 1999 0cfa 01F0 breq .+2 2000 0cfc 00C0 rjmp .L95 2001 0cfe 8091 0000 lds r24,Parameter_GlobalConfig 2002 0d02 86FF sbrs r24,6 2003 0d04 00C0 rjmp .L95 2004 0d06 8091 0000 lds r24,MesswertRoll 2005 0d0a 9091 0000 lds r25,(MesswertRoll)+1 2006 0d0e AA27 clr r26 2007 0d10 97FD sbrc r25,7 2008 0d12 A095 com r26 2009 0d14 BA2F mov r27,r26 2010 0d16 BC01 movw r22,r24 2011 0d18 CD01 movw r24,r26 2012 0d1a 2981 ldd r18,Y+1 2013 0d1c 3A81 ldd r19,Y+2 2014 0d1e 4B81 ldd r20,Y+3 2015 0d20 5C81 ldd r21,Y+4 2016 0d22 0E94 0000 call __mulsi3 2017 0d26 9B01 movw r18,r22 2018 0d28 AC01 movw r20,r24 2019 0d2a 97FF sbrs r25,7 2020 0d2c 00C0 rjmp .L96 2021 0d2e 2150 subi r18,lo8(-(2047)) 2022 0d30 384F sbci r19,hi8(-(2047)) 2023 0d32 4F4F sbci r20,hlo8(-(2047)) 2024 0d34 5F4F sbci r21,hhi8(-(2047)) 2025 .L96: 2026 0d36 BBE0 ldi r27,11 2027 0d38 5595 1: asr r21 2028 0d3a 4795 ror r20 2029 0d3c 3795 ror r19 2030 0d3e 2795 ror r18 2031 0d40 BA95 dec r27 2032 0d42 01F4 brne 1b 2033 0d44 8091 0000 lds r24,Parameter_AchsKopplung2 2034 0d48 682E mov r6,r24 2035 0d4a 7724 clr r7 2036 0d4c 8824 clr r8 2037 0d4e 9924 clr r9 2038 0d50 CA01 movw r24,r20 2039 0d52 B901 movw r22,r18 2040 0d54 A401 movw r20,r8 2041 0d56 9301 movw r18,r6 2042 0d58 0E94 0000 call __mulsi3 2043 0d5c DC01 movw r26,r24 2044 0d5e CB01 movw r24,r22 2045 0d60 8093 0000 sts tmpl3.29,r24 2046 0d64 9093 0000 sts (tmpl3.29)+1,r25 2047 0d68 A093 0000 sts (tmpl3.29)+2,r26 2048 0d6c B093 0000 sts (tmpl3.29)+3,r27 2049 0d70 B7FF sbrs r27,7 2050 0d72 00C0 rjmp .L97 2051 0d74 8150 subi r24,lo8(-(4095)) 2052 0d76 904F sbci r25,hi8(-(4095)) 2053 0d78 AF4F sbci r26,hlo8(-(4095)) 2054 0d7a BF4F sbci r27,hhi8(-(4095)) 2055 .L97: 2056 0d7c 1C01 movw r2,r24 2057 0d7e 2D01 movw r4,r26 2058 0d80 ACE0 ldi r26,12 2059 0d82 5594 1: asr r5 2060 0d84 4794 ror r4 2061 0d86 3794 ror r3 2062 0d88 2794 ror r2 2063 0d8a AA95 dec r26 2064 0d8c 01F4 brne 1b 2065 0d8e 2092 0000 sts tmpl3.29,r2 2066 0d92 3092 0000 sts (tmpl3.29)+1,r3 2067 0d96 4092 0000 sts (tmpl3.29)+2,r4 2068 0d9a 5092 0000 sts (tmpl3.29)+3,r5 2069 0d9e 8091 0000 lds r24,MesswertNick 2070 0da2 9091 0000 lds r25,(MesswertNick)+1 2071 0da6 AA27 clr r26 2072 0da8 97FD sbrc r25,7 2073 0daa A095 com r26 2074 0dac BA2F mov r27,r26 2075 0dae BC01 movw r22,r24 2076 0db0 CD01 movw r24,r26 2077 0db2 2D81 ldd r18,Y+5 2078 0db4 3E81 ldd r19,Y+6 2079 0db6 4F81 ldd r20,Y+7 2080 0db8 5885 ldd r21,Y+8 2081 0dba 0E94 0000 call __mulsi3 2082 0dbe 97FF sbrs r25,7 2083 0dc0 00C0 rjmp .L98 2084 0dc2 6150 subi r22,lo8(-(2047)) 2085 0dc4 784F sbci r23,hi8(-(2047)) 2086 0dc6 8F4F sbci r24,hlo8(-(2047)) 2087 0dc8 9F4F sbci r25,hhi8(-(2047)) 2088 .L98: 2089 0dca FBE0 ldi r31,11 2090 0dcc 9595 1: asr r25 2091 0dce 8795 ror r24 2092 0dd0 7795 ror r23 2093 0dd2 6795 ror r22 2094 0dd4 FA95 dec r31 2095 0dd6 01F4 brne 1b 2096 0dd8 A401 movw r20,r8 2097 0dda 9301 movw r18,r6 2098 0ddc 0E94 0000 call __mulsi3 2099 0de0 DC01 movw r26,r24 2100 0de2 CB01 movw r24,r22 2101 0de4 8093 0000 sts tmpl4.30,r24 2102 0de8 9093 0000 sts (tmpl4.30)+1,r25 2103 0dec A093 0000 sts (tmpl4.30)+2,r26 2104 0df0 B093 0000 sts (tmpl4.30)+3,r27 2105 0df4 B7FF sbrs r27,7 2106 0df6 00C0 rjmp .L99 2107 0df8 8150 subi r24,lo8(-(4095)) 2108 0dfa 904F sbci r25,hi8(-(4095)) 2109 0dfc AF4F sbci r26,hlo8(-(4095)) 2110 0dfe BF4F sbci r27,hhi8(-(4095)) 2111 .L99: 2112 0e00 9C01 movw r18,r24 2113 0e02 AD01 movw r20,r26 2114 0e04 ECE0 ldi r30,12 2115 0e06 5595 1: asr r21 2116 0e08 4795 ror r20 2117 0e0a 3795 ror r19 2118 0e0c 2795 ror r18 2119 0e0e EA95 dec r30 2120 0e10 01F4 brne 1b 2121 0e12 2093 0000 sts tmpl4.30,r18 2122 0e16 3093 0000 sts (tmpl4.30)+1,r19 2123 0e1a 4093 0000 sts (tmpl4.30)+2,r20 2124 0e1e 5093 0000 sts (tmpl4.30)+3,r21 2125 0e22 8091 0000 lds r24,tmpl3.29 2126 0e26 9091 0000 lds r25,(tmpl3.29)+1 2127 0e2a 9093 0000 sts (KopplungsteilNickRoll)+1,r25 2128 0e2e 8093 0000 sts KopplungsteilNickRoll,r24 2129 0e32 8091 0000 lds r24,tmpl4.30 2130 0e36 9091 0000 lds r25,(tmpl4.30)+1 2131 0e3a 9093 0000 sts (KopplungsteilRollNick)+1,r25 2132 0e3e 8093 0000 sts KopplungsteilRollNick,r24 2133 0e42 2219 sub r18,r2 2134 0e44 3309 sbc r19,r3 2135 0e46 4409 sbc r20,r4 2136 0e48 5509 sbc r21,r5 2137 0e4a 2093 0000 sts tmpl4.30,r18 2138 0e4e 3093 0000 sts (tmpl4.30)+1,r19 2139 0e52 4093 0000 sts (tmpl4.30)+2,r20 2140 0e56 5093 0000 sts (tmpl4.30)+3,r21 2141 0e5a E20E add r14,r18 2142 0e5c F31E adc r15,r19 2143 0e5e 041F adc r16,r20 2144 0e60 151F adc r17,r21 2145 0e62 E092 0000 sts ErsatzKompass,r14 2146 0e66 F092 0000 sts (ErsatzKompass)+1,r15 2147 0e6a 0093 0000 sts (ErsatzKompass)+2,r16 2148 0e6e 1093 0000 sts (ErsatzKompass)+3,r17 2149 0e72 8091 0000 lds r24,Parameter_CouplingYawCorrection 2150 0e76 8823 tst r24 2151 0e78 01F4 brne .L100 2152 0e7a 57FF sbrs r21,7 2153 0e7c 00C0 rjmp .L101 2154 0e7e 2F5F subi r18,lo8(-(1)) 2155 0e80 3F4F sbci r19,hi8(-(1)) 2156 0e82 4F4F sbci r20,hlo8(-(1)) 2157 0e84 5F4F sbci r21,hhi8(-(1)) 2158 .L101: 2159 0e86 5595 asr r21 2160 0e88 4795 ror r20 2161 0e8a 3795 ror r19 2162 0e8c 2795 ror r18 2163 0e8e A21A sub r10,r18 2164 0e90 B30A sbc r11,r19 2165 0e92 C40A sbc r12,r20 2166 0e94 D50A sbc r13,r21 2167 0e96 A092 0000 sts Mess_Integral_Gier,r10 2168 0e9a B092 0000 sts (Mess_Integral_Gier)+1,r11 2169 0e9e C092 0000 sts (Mess_Integral_Gier)+2,r12 2170 0ea2 D092 0000 sts (Mess_Integral_Gier)+3,r13 2171 .L100: 2172 0ea6 2A89 ldd r18,Y+18 2173 0ea8 3B89 ldd r19,Y+19 2174 0eaa 7901 movw r14,r18 2175 0eac 0027 clr r16 2176 0eae F7FC sbrc r15,7 2177 0eb0 0095 com r16 2178 0eb2 102F mov r17,r16 2179 0eb4 8091 0000 lds r24,tmpl4.30 2180 0eb8 9091 0000 lds r25,(tmpl4.30)+1 2181 0ebc A091 0000 lds r26,(tmpl4.30)+2 2182 0ec0 B091 0000 lds r27,(tmpl4.30)+3 2183 0ec4 E80E add r14,r24 2184 0ec6 F91E adc r15,r25 2185 0ec8 0A1F adc r16,r26 2186 0eca 1B1F adc r17,r27 2187 0ecc C801 movw r24,r16 2188 0ece B701 movw r22,r14 2189 0ed0 2981 ldd r18,Y+1 2190 0ed2 3A81 ldd r19,Y+2 2191 0ed4 4B81 ldd r20,Y+3 2192 0ed6 5C81 ldd r21,Y+4 2193 0ed8 0E94 0000 call __mulsi3 2194 0edc 9B01 movw r18,r22 2195 0ede AC01 movw r20,r24 2196 0ee0 97FF sbrs r25,7 2197 0ee2 00C0 rjmp .L102 2198 0ee4 2150 subi r18,lo8(-(2047)) 2199 0ee6 384F sbci r19,hi8(-(2047)) 2200 0ee8 4F4F sbci r20,hlo8(-(2047)) 2201 0eea 5F4F sbci r21,hhi8(-(2047)) 2202 .L102: 2203 0eec 6BE0 ldi r22,11 2204 0eee 5595 1: asr r21 2205 0ef0 4795 ror r20 2206 0ef2 3795 ror r19 2207 0ef4 2795 ror r18 2208 0ef6 6A95 dec r22 2209 0ef8 01F4 brne 1b 2210 0efa 8091 0000 lds r24,Parameter_AchsKopplung1 2211 0efe A82E mov r10,r24 2212 0f00 BB24 clr r11 2213 0f02 CC24 clr r12 2214 0f04 DD24 clr r13 2215 0f06 CA01 movw r24,r20 2216 0f08 B901 movw r22,r18 2217 0f0a A601 movw r20,r12 2218 0f0c 9501 movw r18,r10 2219 0f0e 0E94 0000 call __mulsi3 2220 0f12 DC01 movw r26,r24 2221 0f14 CB01 movw r24,r22 2222 0f16 8093 0000 sts tmpl.27,r24 2223 0f1a 9093 0000 sts (tmpl.27)+1,r25 2224 0f1e A093 0000 sts (tmpl.27)+2,r26 2225 0f22 B093 0000 sts (tmpl.27)+3,r27 2226 0f26 B7FF sbrs r27,7 2227 0f28 00C0 rjmp .L103 2228 0f2a 8150 subi r24,lo8(-(4095)) 2229 0f2c 904F sbci r25,hi8(-(4095)) 2230 0f2e AF4F sbci r26,hlo8(-(4095)) 2231 0f30 BF4F sbci r27,hhi8(-(4095)) 2232 .L103: 2233 0f32 3C01 movw r6,r24 2234 0f34 4D01 movw r8,r26 2235 0f36 3CE0 ldi r19,12 2236 0f38 9594 1: asr r9 2237 0f3a 8794 ror r8 2238 0f3c 7794 ror r7 2239 0f3e 6794 ror r6 2240 0f40 3A95 dec r19 2241 0f42 01F4 brne 1b 2242 0f44 6092 0000 sts tmpl.27,r6 2243 0f48 7092 0000 sts (tmpl.27)+1,r7 2244 0f4c 8092 0000 sts (tmpl.27)+2,r8 2245 0f50 9092 0000 sts (tmpl.27)+3,r9 2246 0f54 C801 movw r24,r16 2247 0f56 B701 movw r22,r14 2248 0f58 2D81 ldd r18,Y+5 2249 0f5a 3E81 ldd r19,Y+6 2250 0f5c 4F81 ldd r20,Y+7 2251 0f5e 5885 ldd r21,Y+8 2252 0f60 0E94 0000 call __mulsi3 2253 0f64 97FF sbrs r25,7 2254 0f66 00C0 rjmp .L104 2255 0f68 6150 subi r22,lo8(-(2047)) 2256 0f6a 784F sbci r23,hi8(-(2047)) 2257 0f6c 8F4F sbci r24,hlo8(-(2047)) 2258 0f6e 9F4F sbci r25,hhi8(-(2047)) 2259 .L104: 2260 0f70 2BE0 ldi r18,11 2261 0f72 9595 1: asr r25 2262 0f74 8795 ror r24 2263 0f76 7795 ror r23 2264 0f78 6795 ror r22 2265 0f7a 2A95 dec r18 2266 0f7c 01F4 brne 1b 2267 0f7e A601 movw r20,r12 2268 0f80 9501 movw r18,r10 2269 0f82 0E94 0000 call __mulsi3 2270 0f86 DC01 movw r26,r24 2271 0f88 CB01 movw r24,r22 2272 0f8a 8093 0000 sts tmpl2.28,r24 2273 0f8e 9093 0000 sts (tmpl2.28)+1,r25 2274 0f92 A093 0000 sts (tmpl2.28)+2,r26 2275 0f96 B093 0000 sts (tmpl2.28)+3,r27 2276 0f9a B7FF sbrs r27,7 2277 0f9c 00C0 rjmp .L105 2278 0f9e 8150 subi r24,lo8(-(4095)) 2279 0fa0 904F sbci r25,hi8(-(4095)) 2280 0fa2 AF4F sbci r26,hlo8(-(4095)) 2281 0fa4 BF4F sbci r27,hhi8(-(4095)) 2282 .L105: 2283 0fa6 AC01 movw r20,r24 2284 0fa8 BD01 movw r22,r26 2285 0faa 8CE0 ldi r24,12 2286 0fac 7595 1: asr r23 2287 0fae 6795 ror r22 2288 0fb0 5795 ror r21 2289 0fb2 4795 ror r20 2290 0fb4 8A95 dec r24 2291 0fb6 01F4 brne 1b 2292 0fb8 4093 0000 sts tmpl2.28,r20 2293 0fbc 5093 0000 sts (tmpl2.28)+1,r21 2294 0fc0 6093 0000 sts (tmpl2.28)+2,r22 2295 0fc4 7093 0000 sts (tmpl2.28)+3,r23 2296 0fc8 2A89 ldd r18,Y+18 2297 0fca 3B89 ldd r19,Y+19 2298 0fcc 37FF sbrs r19,7 2299 0fce 00C0 rjmp .L107 2300 0fd0 3095 com r19 2301 0fd2 2195 neg r18 2302 0fd4 3F4F sbci r19,lo8(-1) 2303 .L107: 2304 0fd6 2134 cpi r18,65 2305 0fd8 3105 cpc r19,__zero_reg__ 2306 0fda 04F0 brlt .L112 2307 0fdc D401 movw r26,r8 2308 0fde C301 movw r24,r6 2309 0fe0 97FE sbrs r9,7 2310 0fe2 00C0 rjmp .L110 2311 0fe4 B095 com r27 2312 0fe6 A095 com r26 2313 0fe8 9095 com r25 2314 0fea 8195 neg r24 2315 0fec 9F4F sbci r25,lo8(-1) 2316 0fee AF4F sbci r26,lo8(-1) 2317 0ff0 BF4F sbci r27,lo8(-1) 2318 .L110: 2319 0ff2 8138 cpi r24,lo8(129) 2320 0ff4 9105 cpc r25,__zero_reg__ 2321 0ff6 A105 cpc r26,__zero_reg__ 2322 0ff8 B105 cpc r27,__zero_reg__ 2323 0ffa 04F4 brge .L109 2324 0ffc DB01 movw r26,r22 2325 0ffe CA01 movw r24,r20 2326 1000 77FF sbrs r23,7 2327 1002 00C0 rjmp .L111 2328 1004 B095 com r27 2329 1006 A095 com r26 2330 1008 9095 com r25 2331 100a 8195 neg r24 2332 100c 9F4F sbci r25,lo8(-1) 2333 100e AF4F sbci r26,lo8(-1) 2334 1010 BF4F sbci r27,lo8(-1) 2335 .L111: 2336 1012 8138 cpi r24,lo8(129) 2337 1014 9105 cpc r25,__zero_reg__ 2338 1016 A105 cpc r26,__zero_reg__ 2339 1018 B105 cpc r27,__zero_reg__ 2340 101a 04F0 brlt .L112 2341 .L109: 2342 101c 81E0 ldi r24,lo8(1) 2343 101e 8093 0000 sts TrichterFlug,r24 2344 1022 00C0 rjmp .L112 2345 .L95: 2346 1024 1092 0000 sts (KopplungsteilRollNick)+1,__zero_reg__ 2347 1028 1092 0000 sts KopplungsteilRollNick,__zero_reg__ 2348 102c 1092 0000 sts (KopplungsteilNickRoll)+1,__zero_reg__ 2349 1030 1092 0000 sts KopplungsteilNickRoll,__zero_reg__ 2350 1034 1092 0000 sts tmpl2.28,__zero_reg__ 2351 1038 1092 0000 sts (tmpl2.28)+1,__zero_reg__ 2352 103c 1092 0000 sts (tmpl2.28)+2,__zero_reg__ 2353 1040 1092 0000 sts (tmpl2.28)+3,__zero_reg__ 2354 1044 1092 0000 sts tmpl.27,__zero_reg__ 2355 1048 1092 0000 sts (tmpl.27)+1,__zero_reg__ 2356 104c 1092 0000 sts (tmpl.27)+2,__zero_reg__ 2357 1050 1092 0000 sts (tmpl.27)+3,__zero_reg__ 2358 .L112: 2359 1054 8091 0000 lds r24,tmpl2.28 2360 1058 9091 0000 lds r25,(tmpl2.28)+1 2361 105c A091 0000 lds r26,(tmpl2.28)+2 2362 1060 B091 0000 lds r27,(tmpl2.28)+3 2363 1064 BC01 movw r22,r24 2364 1066 CD01 movw r24,r26 2365 1068 24E6 ldi r18,lo8(100) 2366 106a 30E0 ldi r19,hi8(100) 2367 106c 40E0 ldi r20,hlo8(100) 2368 106e 50E0 ldi r21,hhi8(100) 2369 1070 0E94 0000 call __divmodsi4 2370 1074 E090 0000 lds r14,tmpl.27 2371 1078 F090 0000 lds r15,(tmpl.27)+1 2372 107c E21A sub r14,r18 2373 107e F30A sbc r15,r19 2374 1080 F092 0000 sts (TrimRoll)+1,r15 2375 1084 E092 0000 sts TrimRoll,r14 2376 1088 8091 0000 lds r24,tmpl.27 2377 108c 9091 0000 lds r25,(tmpl.27)+1 2378 1090 A091 0000 lds r26,(tmpl.27)+2 2379 1094 B091 0000 lds r27,(tmpl.27)+3 2380 1098 BC01 movw r22,r24 2381 109a CD01 movw r24,r26 2382 109c 24E6 ldi r18,lo8(100) 2383 109e 30E0 ldi r19,hi8(100) 2384 10a0 40E0 ldi r20,hlo8(100) 2385 10a2 50E0 ldi r21,hhi8(100) 2386 10a4 0E94 0000 call __divmodsi4 2387 10a8 DA01 movw r26,r20 2388 10aa C901 movw r24,r18 2389 10ac 2091 0000 lds r18,tmpl2.28 2390 10b0 3091 0000 lds r19,(tmpl2.28)+1 2391 10b4 8C01 movw r16,r24 2392 10b6 021B sub r16,r18 2393 10b8 130B sbc r17,r19 2394 10ba 1093 0000 sts (TrimNick)+1,r17 2395 10be 0093 0000 sts TrimNick,r16 2396 10c2 8091 0000 lds r24,GIER_GRAD_FAKTOR 2397 10c6 9091 0000 lds r25,(GIER_GRAD_FAKTOR)+1 2398 10ca A091 0000 lds r26,(GIER_GRAD_FAKTOR)+2 2399 10ce B091 0000 lds r27,(GIER_GRAD_FAKTOR)+3 2400 10d2 BC01 movw r22,r24 2401 10d4 CD01 movw r24,r26 2402 10d6 28E6 ldi r18,lo8(360) 2403 10d8 31E0 ldi r19,hi8(360) 2404 10da 40E0 ldi r20,hlo8(360) 2405 10dc 50E0 ldi r21,hhi8(360) 2406 10de 0E94 0000 call __mulsi3 2407 10e2 2091 0000 lds r18,ErsatzKompass 2408 10e6 3091 0000 lds r19,(ErsatzKompass)+1 2409 10ea 4091 0000 lds r20,(ErsatzKompass)+2 2410 10ee 5091 0000 lds r21,(ErsatzKompass)+3 2411 10f2 2617 cp r18,r22 2412 10f4 3707 cpc r19,r23 2413 10f6 4807 cpc r20,r24 2414 10f8 5907 cpc r21,r25 2415 10fa 04F0 brlt .L113 2416 10fc 261B sub r18,r22 2417 10fe 370B sbc r19,r23 2418 1100 480B sbc r20,r24 2419 1102 590B sbc r21,r25 2420 1104 2093 0000 sts ErsatzKompass,r18 2421 1108 3093 0000 sts (ErsatzKompass)+1,r19 2422 110c 4093 0000 sts (ErsatzKompass)+2,r20 2423 1110 5093 0000 sts (ErsatzKompass)+3,r21 2424 .L113: 2425 1114 2091 0000 lds r18,ErsatzKompass 2426 1118 3091 0000 lds r19,(ErsatzKompass)+1 2427 111c 4091 0000 lds r20,(ErsatzKompass)+2 2428 1120 5091 0000 lds r21,(ErsatzKompass)+3 2429 1124 57FF sbrs r21,7 2430 1126 00C0 rjmp .L114 2431 1128 260F add r18,r22 2432 112a 371F adc r19,r23 2433 112c 481F adc r20,r24 2434 112e 591F adc r21,r25 2435 1130 2093 0000 sts ErsatzKompass,r18 2436 1134 3093 0000 sts (ErsatzKompass)+1,r19 2437 1138 4093 0000 sts (ErsatzKompass)+2,r20 2438 113c 5093 0000 sts (ErsatzKompass)+3,r21 2439 .L114: 2440 1140 6091 0000 lds r22,MesswertRoll 2441 1144 7091 0000 lds r23,(MesswertRoll)+1 2442 1148 6E0D add r22,r14 2443 114a 7F1D adc r23,r15 2444 114c 9B01 movw r18,r22 2445 114e 4427 clr r20 2446 1150 37FD sbrc r19,7 2447 1152 4095 com r20 2448 1154 542F mov r21,r20 2449 1156 8091 0000 lds r24,Mess_IntegralRoll2 2450 115a 9091 0000 lds r25,(Mess_IntegralRoll2)+1 2451 115e A091 0000 lds r26,(Mess_IntegralRoll2)+2 2452 1162 B091 0000 lds r27,(Mess_IntegralRoll2)+3 2453 1166 820F add r24,r18 2454 1168 931F adc r25,r19 2455 116a A41F adc r26,r20 2456 116c B51F adc r27,r21 2457 116e 8093 0000 sts Mess_IntegralRoll2,r24 2458 1172 9093 0000 sts (Mess_IntegralRoll2)+1,r25 2459 1176 A093 0000 sts (Mess_IntegralRoll2)+2,r26 2460 117a B093 0000 sts (Mess_IntegralRoll2)+3,r27 2461 117e 8091 0000 lds r24,LageKorrekturRoll 2462 1182 9091 0000 lds r25,(LageKorrekturRoll)+1 2463 1186 681B sub r22,r24 2464 1188 790B sbc r23,r25 2465 118a CB01 movw r24,r22 2466 118c AA27 clr r26 2467 118e 97FD sbrc r25,7 2468 1190 A095 com r26 2469 1192 BA2F mov r27,r26 2470 1194 2985 ldd r18,Y+9 2471 1196 3A85 ldd r19,Y+10 2472 1198 4B85 ldd r20,Y+11 2473 119a 5C85 ldd r21,Y+12 2474 119c 820F add r24,r18 2475 119e 931F adc r25,r19 2476 11a0 A41F adc r26,r20 2477 11a2 B51F adc r27,r21 2478 11a4 8093 0000 sts Mess_IntegralRoll,r24 2479 11a8 9093 0000 sts (Mess_IntegralRoll)+1,r25 2480 11ac A093 0000 sts (Mess_IntegralRoll)+2,r26 2481 11b0 B093 0000 sts (Mess_IntegralRoll)+3,r27 2482 11b4 C090 0000 lds r12,Umschlag180Roll 2483 11b8 D090 0000 lds r13,(Umschlag180Roll)+1 2484 11bc E090 0000 lds r14,(Umschlag180Roll)+2 2485 11c0 F090 0000 lds r15,(Umschlag180Roll)+3 2486 11c4 C816 cp r12,r24 2487 11c6 D906 cpc r13,r25 2488 11c8 EA06 cpc r14,r26 2489 11ca FB06 cpc r15,r27 2490 11cc 04F4 brge .L115 2491 11ce 88EA ldi r24,lo8(25000) 2492 11d0 91E6 ldi r25,hi8(25000) 2493 11d2 A0E0 ldi r26,hlo8(25000) 2494 11d4 B0E0 ldi r27,hhi8(25000) 2495 11d6 8C19 sub r24,r12 2496 11d8 9D09 sbc r25,r13 2497 11da AE09 sbc r26,r14 2498 11dc BF09 sbc r27,r15 2499 11de 8093 0000 sts Mess_IntegralRoll,r24 2500 11e2 9093 0000 sts (Mess_IntegralRoll)+1,r25 2501 11e6 A093 0000 sts (Mess_IntegralRoll)+2,r26 2502 11ea B093 0000 sts (Mess_IntegralRoll)+3,r27 2503 11ee 8093 0000 sts Mess_IntegralRoll2,r24 2504 11f2 9093 0000 sts (Mess_IntegralRoll2)+1,r25 2505 11f6 A093 0000 sts (Mess_IntegralRoll2)+2,r26 2506 11fa B093 0000 sts (Mess_IntegralRoll2)+3,r27 2507 .L115: 2508 11fe 2227 clr r18 2509 1200 3327 clr r19 2510 1202 A901 movw r20,r18 2511 1204 2C19 sub r18,r12 2512 1206 3D09 sbc r19,r13 2513 1208 4E09 sbc r20,r14 2514 120a 5F09 sbc r21,r15 2515 120c 8091 0000 lds r24,Mess_IntegralRoll 2516 1210 9091 0000 lds r25,(Mess_IntegralRoll)+1 2517 1214 A091 0000 lds r26,(Mess_IntegralRoll)+2 2518 1218 B091 0000 lds r27,(Mess_IntegralRoll)+3 2519 121c 8217 cp r24,r18 2520 121e 9307 cpc r25,r19 2521 1220 A407 cpc r26,r20 2522 1222 B507 cpc r27,r21 2523 1224 04F4 brge .L116 2524 1226 D701 movw r26,r14 2525 1228 C601 movw r24,r12 2526 122a 885A subi r24,lo8(-(-25000)) 2527 122c 9146 sbci r25,hi8(-(-25000)) 2528 122e A040 sbci r26,hlo8(-(-25000)) 2529 1230 B040 sbci r27,hhi8(-(-25000)) 2530 1232 8093 0000 sts Mess_IntegralRoll,r24 2531 1236 9093 0000 sts (Mess_IntegralRoll)+1,r25 2532 123a A093 0000 sts (Mess_IntegralRoll)+2,r26 2533 123e B093 0000 sts (Mess_IntegralRoll)+3,r27 2534 1242 8093 0000 sts Mess_IntegralRoll2,r24 2535 1246 9093 0000 sts (Mess_IntegralRoll2)+1,r25 2536 124a A093 0000 sts (Mess_IntegralRoll2)+2,r26 2537 124e B093 0000 sts (Mess_IntegralRoll2)+3,r27 2538 .L116: 2539 1252 6091 0000 lds r22,MesswertNick 2540 1256 7091 0000 lds r23,(MesswertNick)+1 2541 125a 600F add r22,r16 2542 125c 711F adc r23,r17 2543 125e 9B01 movw r18,r22 2544 1260 4427 clr r20 2545 1262 37FD sbrc r19,7 2546 1264 4095 com r20 2547 1266 542F mov r21,r20 2548 1268 8091 0000 lds r24,Mess_IntegralNick2 2549 126c 9091 0000 lds r25,(Mess_IntegralNick2)+1 2550 1270 A091 0000 lds r26,(Mess_IntegralNick2)+2 2551 1274 B091 0000 lds r27,(Mess_IntegralNick2)+3 2552 1278 820F add r24,r18 2553 127a 931F adc r25,r19 2554 127c A41F adc r26,r20 2555 127e B51F adc r27,r21 2556 1280 8093 0000 sts Mess_IntegralNick2,r24 2557 1284 9093 0000 sts (Mess_IntegralNick2)+1,r25 2558 1288 A093 0000 sts (Mess_IntegralNick2)+2,r26 2559 128c B093 0000 sts (Mess_IntegralNick2)+3,r27 2560 1290 8091 0000 lds r24,LageKorrekturNick 2561 1294 9091 0000 lds r25,(LageKorrekturNick)+1 2562 1298 681B sub r22,r24 2563 129a 790B sbc r23,r25 2564 129c CB01 movw r24,r22 2565 129e AA27 clr r26 2566 12a0 97FD sbrc r25,7 2567 12a2 A095 com r26 2568 12a4 BA2F mov r27,r26 2569 12a6 2D85 ldd r18,Y+13 2570 12a8 3E85 ldd r19,Y+14 2571 12aa 4F85 ldd r20,Y+15 2572 12ac 5889 ldd r21,Y+16 2573 12ae 820F add r24,r18 2574 12b0 931F adc r25,r19 2575 12b2 A41F adc r26,r20 2576 12b4 B51F adc r27,r21 2577 12b6 8093 0000 sts Mess_IntegralNick,r24 2578 12ba 9093 0000 sts (Mess_IntegralNick)+1,r25 2579 12be A093 0000 sts (Mess_IntegralNick)+2,r26 2580 12c2 B093 0000 sts (Mess_IntegralNick)+3,r27 2581 12c6 E090 0000 lds r14,Umschlag180Nick 2582 12ca F090 0000 lds r15,(Umschlag180Nick)+1 2583 12ce 0091 0000 lds r16,(Umschlag180Nick)+2 2584 12d2 1091 0000 lds r17,(Umschlag180Nick)+3 2585 12d6 E816 cp r14,r24 2586 12d8 F906 cpc r15,r25 2587 12da 0A07 cpc r16,r26 2588 12dc 1B07 cpc r17,r27 2589 12de 04F4 brge .L117 2590 12e0 88EA ldi r24,lo8(25000) 2591 12e2 91E6 ldi r25,hi8(25000) 2592 12e4 A0E0 ldi r26,hlo8(25000) 2593 12e6 B0E0 ldi r27,hhi8(25000) 2594 12e8 8E19 sub r24,r14 2595 12ea 9F09 sbc r25,r15 2596 12ec A00B sbc r26,r16 2597 12ee B10B sbc r27,r17 2598 12f0 8093 0000 sts Mess_IntegralNick,r24 2599 12f4 9093 0000 sts (Mess_IntegralNick)+1,r25 2600 12f8 A093 0000 sts (Mess_IntegralNick)+2,r26 2601 12fc B093 0000 sts (Mess_IntegralNick)+3,r27 2602 1300 8093 0000 sts Mess_IntegralNick2,r24 2603 1304 9093 0000 sts (Mess_IntegralNick2)+1,r25 2604 1308 A093 0000 sts (Mess_IntegralNick2)+2,r26 2605 130c B093 0000 sts (Mess_IntegralNick2)+3,r27 2606 .L117: 2607 1310 2227 clr r18 2608 1312 3327 clr r19 2609 1314 A901 movw r20,r18 2610 1316 2E19 sub r18,r14 2611 1318 3F09 sbc r19,r15 2612 131a 400B sbc r20,r16 2613 131c 510B sbc r21,r17 2614 131e 8091 0000 lds r24,Mess_IntegralNick 2615 1322 9091 0000 lds r25,(Mess_IntegralNick)+1 2616 1326 A091 0000 lds r26,(Mess_IntegralNick)+2 2617 132a B091 0000 lds r27,(Mess_IntegralNick)+3 2618 132e 8217 cp r24,r18 2619 1330 9307 cpc r25,r19 2620 1332 A407 cpc r26,r20 2621 1334 B507 cpc r27,r21 2622 1336 04F4 brge .L118 2623 1338 D801 movw r26,r16 2624 133a C701 movw r24,r14 2625 133c 885A subi r24,lo8(-(-25000)) 2626 133e 9146 sbci r25,hi8(-(-25000)) 2627 1340 A040 sbci r26,hlo8(-(-25000)) 2628 1342 B040 sbci r27,hhi8(-(-25000)) 2629 1344 8093 0000 sts Mess_IntegralNick,r24 2630 1348 9093 0000 sts (Mess_IntegralNick)+1,r25 2631 134c A093 0000 sts (Mess_IntegralNick)+2,r26 2632 1350 B093 0000 sts (Mess_IntegralNick)+3,r27 2633 1354 8093 0000 sts Mess_IntegralNick2,r24 2634 1358 9093 0000 sts (Mess_IntegralNick2)+1,r25 2635 135c A093 0000 sts (Mess_IntegralNick2)+2,r26 2636 1360 B093 0000 sts (Mess_IntegralNick2)+3,r27 2637 .L118: 2638 1364 8091 0000 lds r24,Mess_Integral_Gier 2639 1368 9091 0000 lds r25,(Mess_Integral_Gier)+1 2640 136c A091 0000 lds r26,(Mess_Integral_Gier)+2 2641 1370 B091 0000 lds r27,(Mess_Integral_Gier)+3 2642 1374 8093 0000 sts Integral_Gier,r24 2643 1378 9093 0000 sts (Integral_Gier)+1,r25 2644 137c A093 0000 sts (Integral_Gier)+2,r26 2645 1380 B093 0000 sts (Integral_Gier)+3,r27 2646 1384 8091 0000 lds r24,Mess_IntegralNick 2647 1388 9091 0000 lds r25,(Mess_IntegralNick)+1 2648 138c A091 0000 lds r26,(Mess_IntegralNick)+2 2649 1390 B091 0000 lds r27,(Mess_IntegralNick)+3 2650 1394 8093 0000 sts IntegralNick,r24 2651 1398 9093 0000 sts (IntegralNick)+1,r25 2652 139c A093 0000 sts (IntegralNick)+2,r26 2653 13a0 B093 0000 sts (IntegralNick)+3,r27 2654 13a4 8091 0000 lds r24,Mess_IntegralRoll 2655 13a8 9091 0000 lds r25,(Mess_IntegralRoll)+1 2656 13ac A091 0000 lds r26,(Mess_IntegralRoll)+2 2657 13b0 B091 0000 lds r27,(Mess_IntegralRoll)+3 2658 13b4 8093 0000 sts IntegralRoll,r24 2659 13b8 9093 0000 sts (IntegralRoll)+1,r25 2660 13bc A093 0000 sts (IntegralRoll)+2,r26 2661 13c0 B093 0000 sts (IntegralRoll)+3,r27 2662 13c4 8091 0000 lds r24,Mess_IntegralNick2 2663 13c8 9091 0000 lds r25,(Mess_IntegralNick2)+1 2664 13cc A091 0000 lds r26,(Mess_IntegralNick2)+2 2665 13d0 B091 0000 lds r27,(Mess_IntegralNick2)+3 2666 13d4 8093 0000 sts IntegralNick2,r24 2667 13d8 9093 0000 sts (IntegralNick2)+1,r25 2668 13dc A093 0000 sts (IntegralNick2)+2,r26 2669 13e0 B093 0000 sts (IntegralNick2)+3,r27 2670 13e4 8091 0000 lds r24,Mess_IntegralRoll2 2671 13e8 9091 0000 lds r25,(Mess_IntegralRoll2)+1 2672 13ec A091 0000 lds r26,(Mess_IntegralRoll2)+2 2673 13f0 B091 0000 lds r27,(Mess_IntegralRoll2)+3 2674 13f4 8093 0000 sts IntegralRoll2,r24 2675 13f8 9093 0000 sts (IntegralRoll2)+1,r25 2676 13fc A093 0000 sts (IntegralRoll2)+2,r26 2677 1400 B093 0000 sts (IntegralRoll2)+3,r27 2678 1404 8091 0000 lds r24,HiResNick 2679 1408 9091 0000 lds r25,(HiResNick)+1 2680 140c 97FD sbrc r25,7 2681 140e 0796 adiw r24,7 2682 .L119: 2683 1410 03E0 ldi r16,3 2684 1412 9595 1: asr r25 2685 1414 8795 ror r24 2686 1416 0A95 dec r16 2687 1418 01F4 brne 1b 2688 141a 9093 0000 sts (MesswertNick)+1,r25 2689 141e 8093 0000 sts MesswertNick,r24 2690 1422 8091 0000 lds r24,HiResRoll 2691 1426 9091 0000 lds r25,(HiResRoll)+1 2692 142a 97FD sbrc r25,7 2693 142c 0796 adiw r24,7 2694 .L120: 2695 142e 13E0 ldi r17,3 2696 1430 9595 1: asr r25 2697 1432 8795 ror r24 2698 1434 1A95 dec r17 2699 1436 01F4 brne 1b 2700 1438 9093 0000 sts (MesswertRoll)+1,r25 2701 143c 8093 0000 sts MesswertRoll,r24 2702 1440 8091 0000 lds r24,AdWertNick 2703 1444 9091 0000 lds r25,(AdWertNick)+1 2704 1448 0F97 sbiw r24,15 2705 144a 04F4 brge .L121 2706 144c 88E1 ldi r24,lo8(-1000) 2707 144e 9CEF ldi r25,hi8(-1000) 2708 1450 9093 0000 sts (MesswertNick)+1,r25 2709 1454 8093 0000 sts MesswertNick,r24 2710 .L121: 2711 1458 8091 0000 lds r24,AdWertNick 2712 145c 9091 0000 lds r25,(AdWertNick)+1 2713 1460 0797 sbiw r24,7 2714 1462 04F4 brge .L122 2715 1464 80E3 ldi r24,lo8(-2000) 2716 1466 98EF ldi r25,hi8(-2000) 2717 1468 9093 0000 sts (MesswertNick)+1,r25 2718 146c 8093 0000 sts MesswertNick,r24 2719 .L122: 2720 1470 2091 0000 lds r18,PlatinenVersion 2721 1474 2A30 cpi r18,lo8(10) 2722 1476 01F4 brne .L123 2723 1478 8091 0000 lds r24,AdWertNick 2724 147c 9091 0000 lds r25,(AdWertNick)+1 2725 1480 835F subi r24,lo8(1011) 2726 1482 9340 sbci r25,hi8(1011) 2727 1484 04F0 brlt .L124 2728 1486 88EE ldi r24,lo8(1000) 2729 1488 93E0 ldi r25,hi8(1000) 2730 148a 9093 0000 sts (MesswertNick)+1,r25 2731 148e 8093 0000 sts MesswertNick,r24 2732 .L124: 2733 1492 8091 0000 lds r24,AdWertNick 2734 1496 9091 0000 lds r25,(AdWertNick)+1 2735 149a 8A5F subi r24,lo8(1018) 2736 149c 9340 sbci r25,hi8(1018) 2737 149e 04F0 brlt .L126 2738 14a0 00C0 rjmp .L169 2739 .L123: 2740 14a2 8091 0000 lds r24,AdWertNick 2741 14a6 9091 0000 lds r25,(AdWertNick)+1 2742 14aa 815D subi r24,lo8(2001) 2743 14ac 9740 sbci r25,hi8(2001) 2744 14ae 04F0 brlt .L127 2745 14b0 88EE ldi r24,lo8(1000) 2746 14b2 93E0 ldi r25,hi8(1000) 2747 14b4 9093 0000 sts (MesswertNick)+1,r25 2748 14b8 8093 0000 sts MesswertNick,r24 2749 .L127: 2750 14bc 8091 0000 lds r24,AdWertNick 2751 14c0 9091 0000 lds r25,(AdWertNick)+1 2752 14c4 805E subi r24,lo8(2016) 2753 14c6 9740 sbci r25,hi8(2016) 2754 14c8 04F0 brlt .L126 2755 .L169: 2756 14ca 80ED ldi r24,lo8(2000) 2757 14cc 97E0 ldi r25,hi8(2000) 2758 14ce 9093 0000 sts (MesswertNick)+1,r25 2759 14d2 8093 0000 sts MesswertNick,r24 2760 .L126: 2761 14d6 8091 0000 lds r24,AdWertRoll 2762 14da 9091 0000 lds r25,(AdWertRoll)+1 2763 14de 0F97 sbiw r24,15 2764 14e0 04F4 brge .L129 2765 14e2 88E1 ldi r24,lo8(-1000) 2766 14e4 9CEF ldi r25,hi8(-1000) 2767 14e6 9093 0000 sts (MesswertRoll)+1,r25 2768 14ea 8093 0000 sts MesswertRoll,r24 2769 .L129: 2770 14ee 8091 0000 lds r24,AdWertRoll 2771 14f2 9091 0000 lds r25,(AdWertRoll)+1 2772 14f6 0797 sbiw r24,7 2773 14f8 04F4 brge .L130 2774 14fa 80E3 ldi r24,lo8(-2000) 2775 14fc 98EF ldi r25,hi8(-2000) 2776 14fe 9093 0000 sts (MesswertRoll)+1,r25 2777 1502 8093 0000 sts MesswertRoll,r24 2778 .L130: 2779 1506 2A30 cpi r18,lo8(10) 2780 1508 01F4 brne .L131 2781 150a 8091 0000 lds r24,AdWertRoll 2782 150e 9091 0000 lds r25,(AdWertRoll)+1 2783 1512 835F subi r24,lo8(1011) 2784 1514 9340 sbci r25,hi8(1011) 2785 1516 04F0 brlt .L132 2786 1518 88EE ldi r24,lo8(1000) 2787 151a 93E0 ldi r25,hi8(1000) 2788 151c 9093 0000 sts (MesswertRoll)+1,r25 2789 1520 8093 0000 sts MesswertRoll,r24 2790 .L132: 2791 1524 8091 0000 lds r24,AdWertRoll 2792 1528 9091 0000 lds r25,(AdWertRoll)+1 2793 152c 8A5F subi r24,lo8(1018) 2794 152e 9340 sbci r25,hi8(1018) 2795 1530 04F0 brlt .L134 2796 1532 00C0 rjmp .L170 2797 .L131: 2798 1534 8091 0000 lds r24,AdWertRoll 2799 1538 9091 0000 lds r25,(AdWertRoll)+1 2800 153c 815D subi r24,lo8(2001) 2801 153e 9740 sbci r25,hi8(2001) 2802 1540 04F0 brlt .L135 2803 1542 88EE ldi r24,lo8(1000) 2804 1544 93E0 ldi r25,hi8(1000) 2805 1546 9093 0000 sts (MesswertRoll)+1,r25 2806 154a 8093 0000 sts MesswertRoll,r24 2807 .L135: 2808 154e 8091 0000 lds r24,AdWertRoll 2809 1552 9091 0000 lds r25,(AdWertRoll)+1 2810 1556 805E subi r24,lo8(2016) 2811 1558 9740 sbci r25,hi8(2016) 2812 155a 04F0 brlt .L134 2813 .L170: 2814 155c 80ED ldi r24,lo8(2000) 2815 155e 97E0 ldi r25,hi8(2000) 2816 1560 9093 0000 sts (MesswertRoll)+1,r25 2817 1564 8093 0000 sts MesswertRoll,r24 2818 .L134: 2819 1568 6091 0000 lds r22,Parameter_Gyro_D 2820 156c 6623 tst r22 2821 156e 01F4 brne .+2 2822 1570 00C0 rjmp .L137 2823 1572 4091 0000 lds r20,HiResNick 2824 1576 5091 0000 lds r21,(HiResNick)+1 2825 157a 8091 0000 lds r24,oldNick.31 2826 157e 9091 0000 lds r25,(oldNick.31)+1 2827 1582 481B sub r20,r24 2828 1584 590B sbc r21,r25 2829 1586 5093 0000 sts (d2Nick.34)+1,r21 2830 158a 4093 0000 sts d2Nick.34,r20 2831 158e 2091 0000 lds r18,HiResNick 2832 1592 3091 0000 lds r19,(HiResNick)+1 2833 1596 280F add r18,r24 2834 1598 391F adc r19,r25 2835 159a 37FF sbrs r19,7 2836 159c 00C0 rjmp .L138 2837 159e 2F5F subi r18,lo8(-(1)) 2838 15a0 3F4F sbci r19,hi8(-(1)) 2839 .L138: 2840 15a2 3595 asr r19 2841 15a4 2795 ror r18 2842 15a6 3093 0000 sts (oldNick.31)+1,r19 2843 15aa 2093 0000 sts oldNick.31,r18 2844 15ae 4138 cpi r20,129 2845 15b0 5105 cpc r21,__zero_reg__ 2846 15b2 04F0 brlt .L139 2847 15b4 80E8 ldi r24,lo8(128) 2848 15b6 90E0 ldi r25,hi8(128) 2849 15b8 00C0 rjmp .L171 2850 .L139: 2851 15ba 4058 subi r20,lo8(-128) 2852 15bc 5F4F sbci r21,hi8(-128) 2853 15be 04F4 brge .L140 2854 15c0 80E8 ldi r24,lo8(-128) 2855 15c2 9FEF ldi r25,hi8(-128) 2856 .L171: 2857 15c4 9093 0000 sts (d2Nick.34)+1,r25 2858 15c8 8093 0000 sts d2Nick.34,r24 2859 .L140: 2860 15cc 4091 0000 lds r20,HiResRoll 2861 15d0 5091 0000 lds r21,(HiResRoll)+1 2862 15d4 8091 0000 lds r24,oldRoll.32 2863 15d8 9091 0000 lds r25,(oldRoll.32)+1 2864 15dc 481B sub r20,r24 2865 15de 590B sbc r21,r25 2866 15e0 5093 0000 sts (d2Roll.33)+1,r21 2867 15e4 4093 0000 sts d2Roll.33,r20 2868 15e8 2091 0000 lds r18,HiResRoll 2869 15ec 3091 0000 lds r19,(HiResRoll)+1 2870 15f0 280F add r18,r24 2871 15f2 391F adc r19,r25 2872 15f4 37FF sbrs r19,7 2873 15f6 00C0 rjmp .L142 2874 15f8 2F5F subi r18,lo8(-(1)) 2875 15fa 3F4F sbci r19,hi8(-(1)) 2876 .L142: 2877 15fc 3595 asr r19 2878 15fe 2795 ror r18 2879 1600 3093 0000 sts (oldRoll.32)+1,r19 2880 1604 2093 0000 sts oldRoll.32,r18 2881 1608 4138 cpi r20,129 2882 160a 5105 cpc r21,__zero_reg__ 2883 160c 04F0 brlt .L143 2884 160e 80E8 ldi r24,lo8(128) 2885 1610 90E0 ldi r25,hi8(128) 2886 1612 00C0 rjmp .L172 2887 .L143: 2888 1614 4058 subi r20,lo8(-128) 2889 1616 5F4F sbci r21,hi8(-128) 2890 1618 04F4 brge .L144 2891 161a 80E8 ldi r24,lo8(-128) 2892 161c 9FEF ldi r25,hi8(-128) 2893 .L172: 2894 161e 9093 0000 sts (d2Roll.33)+1,r25 2895 1622 8093 0000 sts d2Roll.33,r24 2896 .L144: 2897 1626 462F mov r20,r22 2898 1628 5527 clr r21 2899 162a 8091 0000 lds r24,d2Nick.34 2900 162e 9091 0000 lds r25,(d2Nick.34)+1 2901 1632 849F mul r24,r20 2902 1634 B001 movw r22,r0 2903 1636 859F mul r24,r21 2904 1638 700D add r23,r0 2905 163a 949F mul r25,r20 2906 163c 700D add r23,r0 2907 163e 1124 clr r1 2908 1640 9B01 movw r18,r22 2909 1642 77FF sbrs r23,7 2910 1644 00C0 rjmp .L146 2911 1646 215F subi r18,lo8(-(15)) 2912 1648 3F4F sbci r19,hi8(-(15)) 2913 .L146: 2914 164a F4E0 ldi r31,4 2915 164c 3595 1: asr r19 2916 164e 2795 ror r18 2917 1650 FA95 dec r31 2918 1652 01F4 brne 1b 2919 1654 8091 0000 lds r24,MesswertNick 2920 1658 9091 0000 lds r25,(MesswertNick)+1 2921 165c 820F add r24,r18 2922 165e 931F adc r25,r19 2923 1660 9093 0000 sts (MesswertNick)+1,r25 2924 1664 8093 0000 sts MesswertNick,r24 2925 1668 8091 0000 lds r24,d2Roll.33 2926 166c 9091 0000 lds r25,(d2Roll.33)+1 2927 1670 849F mul r24,r20 2928 1672 D001 movw r26,r0 2929 1674 859F mul r24,r21 2930 1676 B00D add r27,r0 2931 1678 949F mul r25,r20 2932 167a B00D add r27,r0 2933 167c 1124 clr r1 2934 167e AD01 movw r20,r26 2935 1680 9D01 movw r18,r26 2936 1682 B7FF sbrs r27,7 2937 1684 00C0 rjmp .L147 2938 1686 215F subi r18,lo8(-(15)) 2939 1688 3F4F sbci r19,hi8(-(15)) 2940 .L147: 2941 168a E4E0 ldi r30,4 2942 168c 3595 1: asr r19 2943 168e 2795 ror r18 2944 1690 EA95 dec r30 2945 1692 01F4 brne 1b 2946 1694 8091 0000 lds r24,MesswertRoll 2947 1698 9091 0000 lds r25,(MesswertRoll)+1 2948 169c 820F add r24,r18 2949 169e 931F adc r25,r19 2950 16a0 9093 0000 sts (MesswertRoll)+1,r25 2951 16a4 8093 0000 sts MesswertRoll,r24 2952 16a8 8091 0000 lds r24,HiResNick 2953 16ac 9091 0000 lds r25,(HiResNick)+1 2954 16b0 860F add r24,r22 2955 16b2 971F adc r25,r23 2956 16b4 9093 0000 sts (HiResNick)+1,r25 2957 16b8 8093 0000 sts HiResNick,r24 2958 16bc 8091 0000 lds r24,HiResRoll 2959 16c0 9091 0000 lds r25,(HiResRoll)+1 2960 16c4 840F add r24,r20 2961 16c6 951F adc r25,r21 2962 16c8 9093 0000 sts (HiResRoll)+1,r25 2963 16cc 8093 0000 sts HiResRoll,r24 2964 .L137: 2965 16d0 0091 0000 lds r16,RohMesswertRoll 2966 16d4 1091 0000 lds r17,(RohMesswertRoll)+1 2967 16d8 8091 0000 lds r24,KopplungsteilNickRoll 2968 16dc 9091 0000 lds r25,(KopplungsteilNickRoll)+1 2969 16e0 1016 cp __zero_reg__,r16 2970 16e2 1106 cpc __zero_reg__,r17 2971 16e4 04F4 brge .L148 2972 16e6 9C01 movw r18,r24 2973 16e8 97FF sbrs r25,7 2974 16ea 00C0 rjmp .L149 2975 16ec 2227 clr r18 2976 16ee 3327 clr r19 2977 16f0 281B sub r18,r24 2978 16f2 390B sbc r19,r25 2979 .L149: 2980 16f4 C901 movw r24,r18 2981 16f6 AA27 clr r26 2982 16f8 97FD sbrc r25,7 2983 16fa A095 com r26 2984 16fc BA2F mov r27,r26 2985 16fe 2091 0000 lds r18,Parameter_CouplingYawCorrection 2986 1702 3327 clr r19 2987 1704 4427 clr r20 2988 1706 5527 clr r21 2989 1708 BC01 movw r22,r24 2990 170a CD01 movw r24,r26 2991 170c 0E94 0000 call __mulsi3 2992 1710 9B01 movw r18,r22 2993 1712 AC01 movw r20,r24 2994 1714 97FF sbrs r25,7 2995 1716 00C0 rjmp .L150 2996 1718 215C subi r18,lo8(-(63)) 2997 171a 3F4F sbci r19,hi8(-(63)) 2998 171c 4F4F sbci r20,hlo8(-(63)) 2999 171e 5F4F sbci r21,hhi8(-(63)) 3000 .L150: 3001 1720 76E0 ldi r23,6 3002 1722 5595 1: asr r21 3003 1724 4795 ror r20 3004 1726 3795 ror r19 3005 1728 2795 ror r18 3006 172a 7A95 dec r23 3007 172c 01F4 brne 1b 3008 172e 8091 0000 lds r24,TrimRoll 3009 1732 9091 0000 lds r25,(TrimRoll)+1 3010 1736 820F add r24,r18 3011 1738 931F adc r25,r19 3012 173a 00C0 rjmp .L173 3013 .L148: 3014 173c 97FF sbrs r25,7 3015 173e 00C0 rjmp .L152 3016 1740 9095 com r25 3017 1742 8195 neg r24 3018 1744 9F4F sbci r25,lo8(-1) 3019 .L152: 3020 1746 AA27 clr r26 3021 1748 97FD sbrc r25,7 3022 174a A095 com r26 3023 174c BA2F mov r27,r26 3024 174e 2091 0000 lds r18,Parameter_CouplingYawCorrection 3025 1752 3327 clr r19 3026 1754 4427 clr r20 3027 1756 5527 clr r21 3028 1758 BC01 movw r22,r24 3029 175a CD01 movw r24,r26 3030 175c 0E94 0000 call __mulsi3 3031 1760 9B01 movw r18,r22 3032 1762 AC01 movw r20,r24 3033 1764 97FF sbrs r25,7 3034 1766 00C0 rjmp .L153 3035 1768 215C subi r18,lo8(-(63)) 3036 176a 3F4F sbci r19,hi8(-(63)) 3037 176c 4F4F sbci r20,hlo8(-(63)) 3038 176e 5F4F sbci r21,hhi8(-(63)) 3039 .L153: 3040 1770 66E0 ldi r22,6 3041 1772 5595 1: asr r21 3042 1774 4795 ror r20 3043 1776 3795 ror r19 3044 1778 2795 ror r18 3045 177a 6A95 dec r22 3046 177c 01F4 brne 1b 3047 177e 8091 0000 lds r24,TrimRoll 3048 1782 9091 0000 lds r25,(TrimRoll)+1 3049 1786 821B sub r24,r18 3050 1788 930B sbc r25,r19 3051 .L173: 3052 178a 9093 0000 sts (TrimRoll)+1,r25 3053 178e 8093 0000 sts TrimRoll,r24 3054 1792 E090 0000 lds r14,RohMesswertNick 3055 1796 F090 0000 lds r15,(RohMesswertNick)+1 3056 179a 8091 0000 lds r24,KopplungsteilRollNick 3057 179e 9091 0000 lds r25,(KopplungsteilRollNick)+1 3058 17a2 1E14 cp __zero_reg__,r14 3059 17a4 1F04 cpc __zero_reg__,r15 3060 17a6 04F4 brge .L154 3061 17a8 9C01 movw r18,r24 3062 17aa 97FF sbrs r25,7 3063 17ac 00C0 rjmp .L155 3064 17ae 2227 clr r18 3065 17b0 3327 clr r19 3066 17b2 281B sub r18,r24 3067 17b4 390B sbc r19,r25 3068 .L155: 3069 17b6 C901 movw r24,r18 3070 17b8 AA27 clr r26 3071 17ba 97FD sbrc r25,7 3072 17bc A095 com r26 3073 17be BA2F mov r27,r26 3074 17c0 2091 0000 lds r18,Parameter_CouplingYawCorrection 3075 17c4 3327 clr r19 3076 17c6 4427 clr r20 3077 17c8 5527 clr r21 3078 17ca BC01 movw r22,r24 3079 17cc CD01 movw r24,r26 3080 17ce 0E94 0000 call __mulsi3 3081 17d2 9B01 movw r18,r22 3082 17d4 AC01 movw r20,r24 3083 17d6 97FF sbrs r25,7 3084 17d8 00C0 rjmp .L156 3085 17da 215C subi r18,lo8(-(63)) 3086 17dc 3F4F sbci r19,hi8(-(63)) 3087 17de 4F4F sbci r20,hlo8(-(63)) 3088 17e0 5F4F sbci r21,hhi8(-(63)) 3089 .L156: 3090 17e2 96E0 ldi r25,6 3091 17e4 5595 1: asr r21 3092 17e6 4795 ror r20 3093 17e8 3795 ror r19 3094 17ea 2795 ror r18 3095 17ec 9A95 dec r25 3096 17ee 01F4 brne 1b 3097 17f0 8091 0000 lds r24,TrimNick 3098 17f4 9091 0000 lds r25,(TrimNick)+1 3099 17f8 820F add r24,r18 3100 17fa 931F adc r25,r19 3101 17fc 00C0 rjmp .L174 3102 .L154: 3103 17fe 97FF sbrs r25,7 3104 1800 00C0 rjmp .L158 3105 1802 9095 com r25 3106 1804 8195 neg r24 3107 1806 9F4F sbci r25,lo8(-1) 3108 .L158: 3109 1808 AA27 clr r26 3110 180a 97FD sbrc r25,7 3111 180c A095 com r26 3112 180e BA2F mov r27,r26 3113 1810 2091 0000 lds r18,Parameter_CouplingYawCorrection 3114 1814 3327 clr r19 3115 1816 4427 clr r20 3116 1818 5527 clr r21 3117 181a BC01 movw r22,r24 3118 181c CD01 movw r24,r26 3119 181e 0E94 0000 call __mulsi3 3120 1822 9B01 movw r18,r22 3121 1824 AC01 movw r20,r24 3122 1826 97FF sbrs r25,7 3123 1828 00C0 rjmp .L159 3124 182a 215C subi r18,lo8(-(63)) 3125 182c 3F4F sbci r19,hi8(-(63)) 3126 182e 4F4F sbci r20,hlo8(-(63)) 3127 1830 5F4F sbci r21,hhi8(-(63)) 3128 .L159: 3129 1832 86E0 ldi r24,6 3130 1834 5595 1: asr r21 3131 1836 4795 ror r20 3132 1838 3795 ror r19 3133 183a 2795 ror r18 3134 183c 8A95 dec r24 3135 183e 01F4 brne 1b 3136 1840 8091 0000 lds r24,TrimNick 3137 1844 9091 0000 lds r25,(TrimNick)+1 3138 1848 821B sub r24,r18 3139 184a 930B sbc r25,r19 3140 .L174: 3141 184c 9093 0000 sts (TrimNick)+1,r25 3142 1850 8093 0000 sts TrimNick,r24 3143 1854 8091 0000 lds r24,Parameter_GlobalConfig 3144 1858 87FF sbrs r24,7 3145 185a 00C0 rjmp .L82 3146 185c B989 ldd r27,Y+17 3147 185e BB23 tst r27 3148 1860 01F0 breq .+2 3149 1862 00C0 rjmp .L82 3150 1864 8091 0000 lds r24,Looping_Roll 3151 1868 8823 tst r24 3152 186a 01F4 brne .L82 3153 186c E1E0 ldi r30,lo8(257) 3154 186e EE16 cp r14,r30 3155 1870 E1E0 ldi r30,hi8(257) 3156 1872 FE06 cpc r15,r30 3157 1874 04F0 brlt .L161 3158 1876 8091 0000 lds r24,MesswertNick 3159 187a 9091 0000 lds r25,(MesswertNick)+1 3160 187e 8E0D add r24,r14 3161 1880 9F1D adc r25,r15 3162 1882 8050 subi r24,lo8(-(-256)) 3163 1884 9140 sbci r25,hi8(-(-256)) 3164 1886 00C0 rjmp .L175 3165 .L161: 3166 1888 F0E0 ldi r31,lo8(-256) 3167 188a EF16 cp r14,r31 3168 188c FFEF ldi r31,hi8(-256) 3169 188e FF06 cpc r15,r31 3170 1890 04F4 brge .L162 3171 1892 8091 0000 lds r24,MesswertNick 3172 1896 9091 0000 lds r25,(MesswertNick)+1 3173 189a 8E0D add r24,r14 3174 189c 9F1D adc r25,r15 3175 189e 8050 subi r24,lo8(-(256)) 3176 18a0 9F4F sbci r25,hi8(-(256)) 3177 .L175: 3178 18a2 9093 0000 sts (MesswertNick)+1,r25 3179 18a6 8093 0000 sts MesswertNick,r24 3180 .L162: 3181 18aa 21E0 ldi r18,hi8(257) 3182 18ac 0130 cpi r16,lo8(257) 3183 18ae 1207 cpc r17,r18 3184 18b0 04F0 brlt .L164 3185 18b2 8091 0000 lds r24,MesswertRoll 3186 18b6 9091 0000 lds r25,(MesswertRoll)+1 3187 18ba 800F add r24,r16 3188 18bc 911F adc r25,r17 3189 18be 8050 subi r24,lo8(-(-256)) 3190 18c0 9140 sbci r25,hi8(-(-256)) 3191 18c2 00C0 rjmp .L176 3192 .L164: 3193 18c4 3FEF ldi r19,hi8(-256) 3194 18c6 0030 cpi r16,lo8(-256) 3195 18c8 1307 cpc r17,r19 3196 18ca 04F4 brge .L82 3197 18cc 8091 0000 lds r24,MesswertRoll 3198 18d0 9091 0000 lds r25,(MesswertRoll)+1 3199 18d4 800F add r24,r16 3200 18d6 911F adc r25,r17 3201 18d8 8050 subi r24,lo8(-(256)) 3202 18da 9F4F sbci r25,hi8(-(256)) 3203 .L176: 3204 18dc 9093 0000 sts (MesswertRoll)+1,r25 3205 18e0 8093 0000 sts MesswertRoll,r24 3206 .L82: 3207 /* epilogue: frame size=19 */ 3208 18e4 E2E1 ldi r30,18 3209 18e6 CD5E subi r28,-19 3210 18e8 0C94 0000 jmp __epilogue_restores__+0 3211 /* epilogue end (size=4) */ 3212 /* function Mittelwert size 2000 (1990) */ 3214 .global SendMotorData 3216 SendMotorData: 3217 /* prologue: frame size=0 */ 3218 /* prologue end (size=0) */ 3219 18ec 8091 0000 lds r24,MotorenEin 3220 18f0 8823 tst r24 3221 18f2 01F4 brne .L178 3222 18f4 8091 0000 lds r24,FC_StatusFlags 3223 18f8 8C7F andi r24,lo8(-4) 3224 18fa 8093 0000 sts FC_StatusFlags,r24 3225 18fe A0E0 ldi r26,lo8(MotorTest) 3226 1900 B0E0 ldi r27,hi8(MotorTest) 3227 1902 E0E0 ldi r30,lo8(Motor) 3228 1904 F0E0 ldi r31,hi8(Motor) 3229 1906 9BE0 ldi r25,lo8(11) 3230 .L183: 3231 1908 8091 0000 lds r24,PC_MotortestActive 3232 190c 8823 tst r24 3233 190e 01F4 brne .L182 3234 1910 8C93 st X,r24 3235 .L182: 3236 1912 8D91 ld r24,X+ 3237 1914 8183 std Z+1,r24 3238 1916 1282 std Z+2,__zero_reg__ 3239 1918 9150 subi r25,lo8(-(-1)) 3240 191a 3896 adiw r30,8 3241 191c 97FF sbrs r25,7 3242 191e 00C0 rjmp .L183 3243 1920 8091 0000 lds r24,PC_MotortestActive 3244 1924 8823 tst r24 3245 1926 01F0 breq .L185 3246 1928 8091 0000 lds r24,PC_MotortestActive 3247 192c 8150 subi r24,lo8(-(-1)) 3248 192e 8093 0000 sts PC_MotortestActive,r24 3249 1932 00C0 rjmp .L185 3250 .L178: 3251 1934 8091 0000 lds r24,FC_StatusFlags 3252 1938 8160 ori r24,lo8(1) 3253 193a 8093 0000 sts FC_StatusFlags,r24 3254 .L185: 3255 193e 8091 0000 lds r24,I2C_TransferActive 3256 1942 8823 tst r24 3257 1944 01F0 breq .L186 3258 1946 1092 0000 sts I2C_TransferActive,__zero_reg__ 3259 194a 0895 ret 3260 .L186: 3261 194c 8093 0000 sts motor_write,r24 3262 1950 8093 0000 sts twi_state,r24 3263 1954 8091 0000 lds r24,BLFlags 3264 1958 8E7F andi r24,lo8(-2) 3265 195a 8093 0000 sts BLFlags,r24 3266 195e 85EA ldi r24,lo8(-91) 3267 1960 8093 BC00 sts 188,r24 3268 1964 0895 ret 3269 /* epilogue: frame size=0 */ 3270 /* epilogue: noreturn */ 3271 /* epilogue end (size=0) */ 3272 /* function SendMotorData size 61 (61) */ 3274 .global ParameterZuordnung 3276 ParameterZuordnung: 3277 /* prologue: frame size=0 */ 3278 1966 CF93 push r28 3279 1968 DF93 push r29 3280 /* prologue end (size=2) */ 3281 196a A0E0 ldi r26,lo8(Poti) 3282 196c B0E0 ldi r27,hi8(Poti) 3283 196e C0E0 ldi r28,lo8(EE_Parameter+5) 3284 1970 D0E0 ldi r29,hi8(EE_Parameter+5) 3285 1972 57E0 ldi r21,lo8(7) 3286 .L203: 3287 1974 9991 ld r25,Y+ 3288 1976 E92F mov r30,r25 3289 1978 FF27 clr r31 3290 197a EE0F add r30,r30 3291 197c FF1F adc r31,r31 3292 197e E050 subi r30,lo8(-(PPM_in)) 3293 1980 F040 sbci r31,hi8(-(PPM_in)) 3294 1982 0190 ld __tmp_reg__,Z+ 3295 1984 F081 ld r31,Z 3296 1986 E02D mov r30,__tmp_reg__ 3297 1988 E158 subi r30,lo8(-(127)) 3298 198a FF4F sbci r31,hi8(-(127)) 3299 198c EF3F cpi r30,255 3300 198e F105 cpc r31,__zero_reg__ 3301 1990 01F0 breq .L194 3302 1992 04F0 brlt .L194 3303 1994 EFEF ldi r30,lo8(255) 3304 1996 F0E0 ldi r31,hi8(255) 3305 1998 00C0 rjmp .L195 3306 .L194: 3307 199a F7FF sbrs r31,7 3308 199c 00C0 rjmp .L195 3309 199e E0E0 ldi r30,lo8(0) 3310 19a0 F0E0 ldi r31,hi8(0) 3311 .L195: 3312 19a2 9931 cpi r25,lo8(25) 3313 19a4 01F4 brne .L197 3314 19a6 EC93 st X,r30 3315 19a8 00C0 rjmp .L193 3316 .L197: 3317 19aa 4C91 ld r20,X 3318 19ac 242F mov r18,r20 3319 19ae 3327 clr r19 3320 19b0 E217 cp r30,r18 3321 19b2 F307 cpc r31,r19 3322 19b4 01F0 breq .L193 3323 19b6 CF01 movw r24,r30 3324 19b8 821B sub r24,r18 3325 19ba 930B sbc r25,r19 3326 19bc 97FD sbrc r25,7 3327 19be 0396 adiw r24,3 3328 .L200: 3329 19c0 9595 asr r25 3330 19c2 8795 ror r24 3331 19c4 9595 asr r25 3332 19c6 8795 ror r24 3333 19c8 242F mov r18,r20 3334 19ca 280F add r18,r24 3335 19cc 2C93 st X,r18 3336 19ce 822F mov r24,r18 3337 19d0 9927 clr r25 3338 19d2 E817 cp r30,r24 3339 19d4 F907 cpc r31,r25 3340 19d6 04F4 brge .L201 3341 19d8 2150 subi r18,lo8(-(-1)) 3342 19da 00C0 rjmp .L327 3343 .L201: 3344 19dc 2F5F subi r18,lo8(-(1)) 3345 .L327: 3346 19de 2C93 st X,r18 3347 .L193: 3348 19e0 5150 subi r21,lo8(-(-1)) 3349 19e2 1196 adiw r26,1 3350 19e4 57FF sbrs r21,7 3351 19e6 00C0 rjmp .L203 3352 19e8 8091 0000 lds r24,EE_Parameter+15 3353 19ec 883F cpi r24,lo8(-8) 3354 19ee 00F0 brlo .L328 3355 19f0 EFEF ldi r30,lo8(255) 3356 19f2 F0E0 ldi r31,hi8(255) 3357 19f4 E81B sub r30,r24 3358 19f6 F109 sbc r31,__zero_reg__ 3359 19f8 E050 subi r30,lo8(-(Poti)) 3360 19fa F040 sbci r31,hi8(-(Poti)) 3361 19fc 8081 ld r24,Z 3362 .L328: 3363 19fe 8093 0000 sts Parameter_Luftdruck_D,r24 3364 1a02 8091 0000 lds r24,Parameter_Luftdruck_D 3365 1a06 8823 tst r24 3366 1a08 01F0 breq .L207 3367 1a0a 8436 cpi r24,lo8(100) 3368 1a0c 00F0 brlo .L207 3369 1a0e 84E6 ldi r24,lo8(100) 3370 1a10 8093 0000 sts Parameter_Luftdruck_D,r24 3371 .L207: 3372 1a14 8091 0000 lds r24,EE_Parameter+17 3373 1a18 883F cpi r24,lo8(-8) 3374 1a1a 00F0 brlo .L329 3375 1a1c EFEF ldi r30,lo8(255) 3376 1a1e F0E0 ldi r31,hi8(255) 3377 1a20 E81B sub r30,r24 3378 1a22 F109 sbc r31,__zero_reg__ 3379 1a24 E050 subi r30,lo8(-(Poti)) 3380 1a26 F040 sbci r31,hi8(-(Poti)) 3381 1a28 8081 ld r24,Z 3382 .L329: 3383 1a2a 8093 0000 sts Parameter_Hoehe_P,r24 3384 1a2e 8091 0000 lds r24,Parameter_Hoehe_P 3385 1a32 8823 tst r24 3386 1a34 01F0 breq .L212 3387 1a36 8436 cpi r24,lo8(100) 3388 1a38 00F0 brlo .L212 3389 1a3a 84E6 ldi r24,lo8(100) 3390 1a3c 8093 0000 sts Parameter_Hoehe_P,r24 3391 .L212: 3392 1a40 8091 0000 lds r24,EE_Parameter+30 3393 1a44 883F cpi r24,lo8(-8) 3394 1a46 00F0 brlo .L330 3395 1a48 EFEF ldi r30,lo8(255) 3396 1a4a F0E0 ldi r31,hi8(255) 3397 1a4c E81B sub r30,r24 3398 1a4e F109 sbc r31,__zero_reg__ 3399 1a50 E050 subi r30,lo8(-(Poti)) 3400 1a52 F040 sbci r31,hi8(-(Poti)) 3401 1a54 8081 ld r24,Z 3402 .L330: 3403 1a56 8093 0000 sts Parameter_Gyro_P,r24 3404 1a5a 8091 0000 lds r24,Parameter_Gyro_P 3405 1a5e 8B30 cpi r24,lo8(11) 3406 1a60 00F4 brsh .L216 3407 1a62 8AE0 ldi r24,lo8(10) 3408 1a64 00C0 rjmp .L331 3409 .L216: 3410 1a66 8F3F cpi r24,lo8(-1) 3411 1a68 01F4 brne .L217 3412 .L331: 3413 1a6a 8093 0000 sts Parameter_Gyro_P,r24 3414 .L217: 3415 1a6e 8091 0000 lds r24,EE_Parameter+75 3416 1a72 883F cpi r24,lo8(-8) 3417 1a74 00F0 brlo .L332 3418 1a76 EFEF ldi r30,lo8(255) 3419 1a78 F0E0 ldi r31,hi8(255) 3420 1a7a E81B sub r30,r24 3421 1a7c F109 sbc r31,__zero_reg__ 3422 1a7e E050 subi r30,lo8(-(Poti)) 3423 1a80 F040 sbci r31,hi8(-(Poti)) 3424 1a82 8081 ld r24,Z 3425 .L332: 3426 1a84 8093 0000 sts Parameter_J16Timing,r24 3427 1a88 8091 0000 lds r24,Parameter_J16Timing 3428 1a8c 8630 cpi r24,lo8(6) 3429 1a8e 00F4 brsh .L221 3430 1a90 85E0 ldi r24,lo8(5) 3431 1a92 00C0 rjmp .L333 3432 .L221: 3433 1a94 8F3F cpi r24,lo8(-1) 3434 1a96 01F4 brne .L222 3435 .L333: 3436 1a98 8093 0000 sts Parameter_J16Timing,r24 3437 .L222: 3438 1a9c 8091 0000 lds r24,EE_Parameter+77 3439 1aa0 883F cpi r24,lo8(-8) 3440 1aa2 00F0 brlo .L334 3441 1aa4 EFEF ldi r30,lo8(255) 3442 1aa6 F0E0 ldi r31,hi8(255) 3443 1aa8 E81B sub r30,r24 3444 1aaa F109 sbc r31,__zero_reg__ 3445 1aac E050 subi r30,lo8(-(Poti)) 3446 1aae F040 sbci r31,hi8(-(Poti)) 3447 1ab0 8081 ld r24,Z 3448 .L334: 3449 1ab2 8093 0000 sts Parameter_J17Timing,r24 3450 1ab6 8091 0000 lds r24,Parameter_J17Timing 3451 1aba 8630 cpi r24,lo8(6) 3452 1abc 00F4 brsh .L226 3453 1abe 85E0 ldi r24,lo8(5) 3454 1ac0 00C0 rjmp .L335 3455 .L226: 3456 1ac2 8F3F cpi r24,lo8(-1) 3457 1ac4 01F4 brne .L227 3458 .L335: 3459 1ac6 8093 0000 sts Parameter_J17Timing,r24 3460 .L227: 3461 1aca 8091 0000 lds r24,EE_Parameter+56 3462 1ace 873F cpi r24,lo8(-9) 3463 1ad0 01F4 brne .L229 3464 1ad2 4299 sbic 40-0x20,2 3465 1ad4 00C0 rjmp .L368 3466 1ad6 00C0 rjmp .L234 3467 .L229: 3468 1ad8 863F cpi r24,lo8(-10) 3469 1ada 01F4 brne .L233 3470 1adc 439B sbis 40-0x20,3 3471 1ade 00C0 rjmp .L234 3472 .L368: 3473 1ae0 8CE8 ldi r24,lo8(-116) 3474 1ae2 00C0 rjmp .L336 3475 .L234: 3476 1ae4 86E4 ldi r24,lo8(70) 3477 1ae6 00C0 rjmp .L336 3478 .L233: 3479 1ae8 883F cpi r24,lo8(-8) 3480 1aea 00F0 brlo .L336 3481 1aec EFEF ldi r30,lo8(255) 3482 1aee F0E0 ldi r31,hi8(255) 3483 1af0 E81B sub r30,r24 3484 1af2 F109 sbc r31,__zero_reg__ 3485 1af4 E050 subi r30,lo8(-(Poti)) 3486 1af6 F040 sbci r31,hi8(-(Poti)) 3487 1af8 8081 ld r24,Z 3488 .L336: 3489 1afa 8093 0000 sts Parameter_Servo3,r24 3490 1afe 8091 0000 lds r24,EE_Parameter+57 3491 1b02 873F cpi r24,lo8(-9) 3492 1b04 01F4 brne .L239 3493 1b06 4299 sbic 40-0x20,2 3494 1b08 00C0 rjmp .L369 3495 1b0a 00C0 rjmp .L244 3496 .L239: 3497 1b0c 863F cpi r24,lo8(-10) 3498 1b0e 01F4 brne .L243 3499 1b10 439B sbis 40-0x20,3 3500 1b12 00C0 rjmp .L244 3501 .L369: 3502 1b14 8CE8 ldi r24,lo8(-116) 3503 1b16 00C0 rjmp .L337 3504 .L244: 3505 1b18 86E4 ldi r24,lo8(70) 3506 1b1a 00C0 rjmp .L337 3507 .L243: 3508 1b1c 883F cpi r24,lo8(-8) 3509 1b1e 00F0 brlo .L337 3510 1b20 EFEF ldi r30,lo8(255) 3511 1b22 F0E0 ldi r31,hi8(255) 3512 1b24 E81B sub r30,r24 3513 1b26 F109 sbc r31,__zero_reg__ 3514 1b28 E050 subi r30,lo8(-(Poti)) 3515 1b2a F040 sbci r31,hi8(-(Poti)) 3516 1b2c 8081 ld r24,Z 3517 .L337: 3518 1b2e 8093 0000 sts Parameter_Servo4,r24 3519 1b32 8091 0000 lds r24,EE_Parameter+58 3520 1b36 883F cpi r24,lo8(-8) 3521 1b38 00F0 brlo .L338 3522 1b3a EFEF ldi r30,lo8(255) 3523 1b3c F0E0 ldi r31,hi8(255) 3524 1b3e E81B sub r30,r24 3525 1b40 F109 sbc r31,__zero_reg__ 3526 1b42 E050 subi r30,lo8(-(Poti)) 3527 1b44 F040 sbci r31,hi8(-(Poti)) 3528 1b46 8081 ld r24,Z 3529 .L338: 3530 1b48 8093 0000 sts Parameter_Servo5,r24 3531 1b4c 8091 0000 lds r24,EE_Parameter+16 3532 1b50 883F cpi r24,lo8(-8) 3533 1b52 00F0 brlo .L339 3534 1b54 EFEF ldi r30,lo8(255) 3535 1b56 F0E0 ldi r31,hi8(255) 3536 1b58 E81B sub r30,r24 3537 1b5a F109 sbc r31,__zero_reg__ 3538 1b5c E050 subi r30,lo8(-(Poti)) 3539 1b5e F040 sbci r31,hi8(-(Poti)) 3540 1b60 8081 ld r24,Z 3541 .L339: 3542 1b62 8093 0000 sts Parameter_HoehenSchalter,r24 3543 1b66 8091 0000 lds r24,EE_Parameter+19 3544 1b6a 883F cpi r24,lo8(-8) 3545 1b6c 00F0 brlo .L340 3546 1b6e EFEF ldi r30,lo8(255) 3547 1b70 F0E0 ldi r31,hi8(255) 3548 1b72 E81B sub r30,r24 3549 1b74 F109 sbc r31,__zero_reg__ 3550 1b76 E050 subi r30,lo8(-(Poti)) 3551 1b78 F040 sbci r31,hi8(-(Poti)) 3552 1b7a 8081 ld r24,Z 3553 .L340: 3554 1b7c 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r24 3555 1b80 8091 0000 lds r24,EE_Parameter+21 3556 1b84 883F cpi r24,lo8(-8) 3557 1b86 00F0 brlo .L341 3558 1b88 EFEF ldi r30,lo8(255) 3559 1b8a F0E0 ldi r31,hi8(255) 3560 1b8c E81B sub r30,r24 3561 1b8e F109 sbc r31,__zero_reg__ 3562 1b90 E050 subi r30,lo8(-(Poti)) 3563 1b92 F040 sbci r31,hi8(-(Poti)) 3564 1b94 8081 ld r24,Z 3565 .L341: 3566 1b96 8093 0000 sts Parameter_Hoehe_GPS_Z,r24 3567 1b9a 8091 0000 lds r24,EE_Parameter+29 3568 1b9e 883F cpi r24,lo8(-8) 3569 1ba0 00F0 brlo .L342 3570 1ba2 EFEF ldi r30,lo8(255) 3571 1ba4 F0E0 ldi r31,hi8(255) 3572 1ba6 E81B sub r30,r24 3573 1ba8 F109 sbc r31,__zero_reg__ 3574 1baa E050 subi r30,lo8(-(Poti)) 3575 1bac F040 sbci r31,hi8(-(Poti)) 3576 1bae 8081 ld r24,Z 3577 .L342: 3578 1bb0 8093 0000 sts Parameter_KompassWirkung,r24 3579 1bb4 8091 0000 lds r24,EE_Parameter+31 3580 1bb8 883F cpi r24,lo8(-8) 3581 1bba 00F0 brlo .L343 3582 1bbc EFEF ldi r30,lo8(255) 3583 1bbe F0E0 ldi r31,hi8(255) 3584 1bc0 E81B sub r30,r24 3585 1bc2 F109 sbc r31,__zero_reg__ 3586 1bc4 E050 subi r30,lo8(-(Poti)) 3587 1bc6 F040 sbci r31,hi8(-(Poti)) 3588 1bc8 8081 ld r24,Z 3589 .L343: 3590 1bca 8093 0000 sts Parameter_Gyro_I,r24 3591 1bce 8091 0000 lds r24,EE_Parameter+32 3592 1bd2 883F cpi r24,lo8(-8) 3593 1bd4 00F0 brlo .L344 3594 1bd6 EFEF ldi r30,lo8(255) 3595 1bd8 F0E0 ldi r31,hi8(255) 3596 1bda E81B sub r30,r24 3597 1bdc F109 sbc r31,__zero_reg__ 3598 1bde E050 subi r30,lo8(-(Poti)) 3599 1be0 F040 sbci r31,hi8(-(Poti)) 3600 1be2 8081 ld r24,Z 3601 .L344: 3602 1be4 8093 0000 sts Parameter_Gyro_D,r24 3603 1be8 8091 0000 lds r24,EE_Parameter+33 3604 1bec 883F cpi r24,lo8(-8) 3605 1bee 00F0 brlo .L345 3606 1bf0 EFEF ldi r30,lo8(255) 3607 1bf2 F0E0 ldi r31,hi8(255) 3608 1bf4 E81B sub r30,r24 3609 1bf6 F109 sbc r31,__zero_reg__ 3610 1bf8 E050 subi r30,lo8(-(Poti)) 3611 1bfa F040 sbci r31,hi8(-(Poti)) 3612 1bfc 8081 ld r24,Z 3613 .L345: 3614 1bfe 8093 0000 sts Parameter_Gyro_Gier_P,r24 3615 1c02 8091 0000 lds r24,EE_Parameter+34 3616 1c06 883F cpi r24,lo8(-8) 3617 1c08 00F0 brlo .L346 3618 1c0a EFEF ldi r30,lo8(255) 3619 1c0c F0E0 ldi r31,hi8(255) 3620 1c0e E81B sub r30,r24 3621 1c10 F109 sbc r31,__zero_reg__ 3622 1c12 E050 subi r30,lo8(-(Poti)) 3623 1c14 F040 sbci r31,hi8(-(Poti)) 3624 1c16 8081 ld r24,Z 3625 .L346: 3626 1c18 8093 0000 sts Parameter_Gyro_Gier_I,r24 3627 1c1c 8091 0000 lds r24,EE_Parameter+40 3628 1c20 883F cpi r24,lo8(-8) 3629 1c22 00F0 brlo .L347 3630 1c24 EFEF ldi r30,lo8(255) 3631 1c26 F0E0 ldi r31,hi8(255) 3632 1c28 E81B sub r30,r24 3633 1c2a F109 sbc r31,__zero_reg__ 3634 1c2c E050 subi r30,lo8(-(Poti)) 3635 1c2e F040 sbci r31,hi8(-(Poti)) 3636 1c30 8081 ld r24,Z 3637 .L347: 3638 1c32 8093 0000 sts Parameter_I_Faktor,r24 3639 1c36 8091 0000 lds r24,EE_Parameter+41 3640 1c3a 883F cpi r24,lo8(-8) 3641 1c3c 00F0 brlo .L348 3642 1c3e EFEF ldi r30,lo8(255) 3643 1c40 F0E0 ldi r31,hi8(255) 3644 1c42 E81B sub r30,r24 3645 1c44 F109 sbc r31,__zero_reg__ 3646 1c46 E050 subi r30,lo8(-(Poti)) 3647 1c48 F040 sbci r31,hi8(-(Poti)) 3648 1c4a 8081 ld r24,Z 3649 .L348: 3650 1c4c 8093 0000 sts Parameter_UserParam1,r24 3651 1c50 8091 0000 lds r24,EE_Parameter+42 3652 1c54 883F cpi r24,lo8(-8) 3653 1c56 00F0 brlo .L349 3654 1c58 EFEF ldi r30,lo8(255) 3655 1c5a F0E0 ldi r31,hi8(255) 3656 1c5c E81B sub r30,r24 3657 1c5e F109 sbc r31,__zero_reg__ 3658 1c60 E050 subi r30,lo8(-(Poti)) 3659 1c62 F040 sbci r31,hi8(-(Poti)) 3660 1c64 8081 ld r24,Z 3661 .L349: 3662 1c66 8093 0000 sts Parameter_UserParam2,r24 3663 1c6a 8091 0000 lds r24,EE_Parameter+43 3664 1c6e 883F cpi r24,lo8(-8) 3665 1c70 00F0 brlo .L350 3666 1c72 EFEF ldi r30,lo8(255) 3667 1c74 F0E0 ldi r31,hi8(255) 3668 1c76 E81B sub r30,r24 3669 1c78 F109 sbc r31,__zero_reg__ 3670 1c7a E050 subi r30,lo8(-(Poti)) 3671 1c7c F040 sbci r31,hi8(-(Poti)) 3672 1c7e 8081 ld r24,Z 3673 .L350: 3674 1c80 8093 0000 sts Parameter_UserParam3,r24 3675 1c84 8091 0000 lds r24,EE_Parameter+44 3676 1c88 883F cpi r24,lo8(-8) 3677 1c8a 00F0 brlo .L351 3678 1c8c EFEF ldi r30,lo8(255) 3679 1c8e F0E0 ldi r31,hi8(255) 3680 1c90 E81B sub r30,r24 3681 1c92 F109 sbc r31,__zero_reg__ 3682 1c94 E050 subi r30,lo8(-(Poti)) 3683 1c96 F040 sbci r31,hi8(-(Poti)) 3684 1c98 8081 ld r24,Z 3685 .L351: 3686 1c9a 8093 0000 sts Parameter_UserParam4,r24 3687 1c9e 8091 0000 lds r24,EE_Parameter+70 3688 1ca2 883F cpi r24,lo8(-8) 3689 1ca4 00F0 brlo .L352 3690 1ca6 EFEF ldi r30,lo8(255) 3691 1ca8 F0E0 ldi r31,hi8(255) 3692 1caa E81B sub r30,r24 3693 1cac F109 sbc r31,__zero_reg__ 3694 1cae E050 subi r30,lo8(-(Poti)) 3695 1cb0 F040 sbci r31,hi8(-(Poti)) 3696 1cb2 8081 ld r24,Z 3697 .L352: 3698 1cb4 8093 0000 sts Parameter_UserParam5,r24 3699 1cb8 8091 0000 lds r24,EE_Parameter+71 3700 1cbc 883F cpi r24,lo8(-8) 3701 1cbe 00F0 brlo .L353 3702 1cc0 EFEF ldi r30,lo8(255) 3703 1cc2 F0E0 ldi r31,hi8(255) 3704 1cc4 E81B sub r30,r24 3705 1cc6 F109 sbc r31,__zero_reg__ 3706 1cc8 E050 subi r30,lo8(-(Poti)) 3707 1cca F040 sbci r31,hi8(-(Poti)) 3708 1ccc 8081 ld r24,Z 3709 .L353: 3710 1cce 8093 0000 sts Parameter_UserParam6,r24 3711 1cd2 8091 0000 lds r24,EE_Parameter+72 3712 1cd6 883F cpi r24,lo8(-8) 3713 1cd8 00F0 brlo .L354 3714 1cda EFEF ldi r30,lo8(255) 3715 1cdc F0E0 ldi r31,hi8(255) 3716 1cde E81B sub r30,r24 3717 1ce0 F109 sbc r31,__zero_reg__ 3718 1ce2 E050 subi r30,lo8(-(Poti)) 3719 1ce4 F040 sbci r31,hi8(-(Poti)) 3720 1ce6 8081 ld r24,Z 3721 .L354: 3722 1ce8 8093 0000 sts Parameter_UserParam7,r24 3723 1cec 8091 0000 lds r24,EE_Parameter+73 3724 1cf0 883F cpi r24,lo8(-8) 3725 1cf2 00F0 brlo .L355 3726 1cf4 EFEF ldi r30,lo8(255) 3727 1cf6 F0E0 ldi r31,hi8(255) 3728 1cf8 E81B sub r30,r24 3729 1cfa F109 sbc r31,__zero_reg__ 3730 1cfc E050 subi r30,lo8(-(Poti)) 3731 1cfe F040 sbci r31,hi8(-(Poti)) 3732 1d00 8081 ld r24,Z 3733 .L355: 3734 1d02 8093 0000 sts Parameter_UserParam8,r24 3735 1d06 8091 0000 lds r24,EE_Parameter+45 3736 1d0a 883F cpi r24,lo8(-8) 3737 1d0c 00F0 brlo .L356 3738 1d0e EFEF ldi r30,lo8(255) 3739 1d10 F0E0 ldi r31,hi8(255) 3740 1d12 E81B sub r30,r24 3741 1d14 F109 sbc r31,__zero_reg__ 3742 1d16 E050 subi r30,lo8(-(Poti)) 3743 1d18 F040 sbci r31,hi8(-(Poti)) 3744 1d1a 8081 ld r24,Z 3745 .L356: 3746 1d1c 8093 0000 sts Parameter_ServoNickControl,r24 3747 1d20 8091 0000 lds r24,EE_Parameter+49 3748 1d24 883F cpi r24,lo8(-8) 3749 1d26 00F0 brlo .L357 3750 1d28 EFEF ldi r30,lo8(255) 3751 1d2a F0E0 ldi r31,hi8(255) 3752 1d2c E81B sub r30,r24 3753 1d2e F109 sbc r31,__zero_reg__ 3754 1d30 E050 subi r30,lo8(-(Poti)) 3755 1d32 F040 sbci r31,hi8(-(Poti)) 3756 1d34 8081 ld r24,Z 3757 .L357: 3758 1d36 8093 0000 sts Parameter_ServoRollControl,r24 3759 1d3a 8091 0000 lds r24,EE_Parameter+46 3760 1d3e 883F cpi r24,lo8(-8) 3761 1d40 00F0 brlo .L358 3762 1d42 EFEF ldi r30,lo8(255) 3763 1d44 F0E0 ldi r31,hi8(255) 3764 1d46 E81B sub r30,r24 3765 1d48 F109 sbc r31,__zero_reg__ 3766 1d4a E050 subi r30,lo8(-(Poti)) 3767 1d4c F040 sbci r31,hi8(-(Poti)) 3768 1d4e 8081 ld r24,Z 3769 .L358: 3770 1d50 8093 0000 sts Parameter_ServoNickComp,r24 3771 1d54 8091 0000 lds r24,EE_Parameter+50 3772 1d58 883F cpi r24,lo8(-8) 3773 1d5a 00F0 brlo .L359 3774 1d5c EFEF ldi r30,lo8(255) 3775 1d5e F0E0 ldi r31,hi8(255) 3776 1d60 E81B sub r30,r24 3777 1d62 F109 sbc r31,__zero_reg__ 3778 1d64 E050 subi r30,lo8(-(Poti)) 3779 1d66 F040 sbci r31,hi8(-(Poti)) 3780 1d68 8081 ld r24,Z 3781 .L359: 3782 1d6a 8093 0000 sts Parameter_ServoRollComp,r24 3783 1d6e 8091 0000 lds r24,EE_Parameter+59 3784 1d72 883F cpi r24,lo8(-8) 3785 1d74 00F0 brlo .L360 3786 1d76 EFEF ldi r30,lo8(255) 3787 1d78 F0E0 ldi r31,hi8(255) 3788 1d7a E81B sub r30,r24 3789 1d7c F109 sbc r31,__zero_reg__ 3790 1d7e E050 subi r30,lo8(-(Poti)) 3791 1d80 F040 sbci r31,hi8(-(Poti)) 3792 1d82 8081 ld r24,Z 3793 .L360: 3794 1d84 8093 0000 sts Parameter_LoopGasLimit,r24 3795 1d88 8091 0000 lds r24,EE_Parameter+62 3796 1d8c 883F cpi r24,lo8(-8) 3797 1d8e 00F0 brlo .L361 3798 1d90 EFEF ldi r30,lo8(255) 3799 1d92 F0E0 ldi r31,hi8(255) 3800 1d94 E81B sub r30,r24 3801 1d96 F109 sbc r31,__zero_reg__ 3802 1d98 E050 subi r30,lo8(-(Poti)) 3803 1d9a F040 sbci r31,hi8(-(Poti)) 3804 1d9c 8081 ld r24,Z 3805 .L361: 3806 1d9e 8093 0000 sts Parameter_AchsKopplung1,r24 3807 1da2 8091 0000 lds r24,EE_Parameter+63 3808 1da6 883F cpi r24,lo8(-8) 3809 1da8 00F0 brlo .L362 3810 1daa EFEF ldi r30,lo8(255) 3811 1dac F0E0 ldi r31,hi8(255) 3812 1dae E81B sub r30,r24 3813 1db0 F109 sbc r31,__zero_reg__ 3814 1db2 E050 subi r30,lo8(-(Poti)) 3815 1db4 F040 sbci r31,hi8(-(Poti)) 3816 1db6 8081 ld r24,Z 3817 .L362: 3818 1db8 8093 0000 sts Parameter_AchsKopplung2,r24 3819 1dbc 8091 0000 lds r24,EE_Parameter+64 3820 1dc0 883F cpi r24,lo8(-8) 3821 1dc2 00F0 brlo .L363 3822 1dc4 EFEF ldi r30,lo8(255) 3823 1dc6 F0E0 ldi r31,hi8(255) 3824 1dc8 E81B sub r30,r24 3825 1dca F109 sbc r31,__zero_reg__ 3826 1dcc E050 subi r30,lo8(-(Poti)) 3827 1dce F040 sbci r31,hi8(-(Poti)) 3828 1dd0 8081 ld r24,Z 3829 .L363: 3830 1dd2 8093 0000 sts Parameter_CouplingYawCorrection,r24 3831 1dd6 8091 0000 lds r24,EE_Parameter+104 3832 1dda 883F cpi r24,lo8(-8) 3833 1ddc 00F0 brlo .L364 3834 1dde EFEF ldi r30,lo8(255) 3835 1de0 F0E0 ldi r31,hi8(255) 3836 1de2 E81B sub r30,r24 3837 1de4 F109 sbc r31,__zero_reg__ 3838 1de6 E050 subi r30,lo8(-(Poti)) 3839 1de8 F040 sbci r31,hi8(-(Poti)) 3840 1dea 8081 ld r24,Z 3841 .L364: 3842 1dec 8093 0000 sts Parameter_MaximumAltitude,r24 3843 1df0 9091 0000 lds r25,NC_To_FC_MaxAltitude 3844 1df4 9923 tst r25 3845 1df6 01F0 breq .L305 3846 1df8 8091 0000 lds r24,Parameter_MaximumAltitude 3847 1dfc 9817 cp r25,r24 3848 1dfe 00F0 brlo .L304 3849 .L305: 3850 1e00 8091 0000 lds r24,Parameter_MaximumAltitude 3851 1e04 8823 tst r24 3852 1e06 01F4 brne .L303 3853 .L304: 3854 1e08 9093 0000 sts Parameter_MaximumAltitude,r25 3855 .L303: 3856 1e0c 8091 0000 lds r24,EE_Parameter+13 3857 1e10 8093 0000 sts Parameter_GlobalConfig,r24 3858 1e14 8091 0000 lds r24,EE_Parameter+110 3859 1e18 8093 0000 sts Parameter_ExtraConfig,r24 3860 1e1c 8091 0000 lds r24,EE_Parameter+69 3861 1e20 883F cpi r24,lo8(-8) 3862 1e22 00F0 brlo .L365 3863 1e24 EFEF ldi r30,lo8(255) 3864 1e26 F0E0 ldi r31,hi8(255) 3865 1e28 E81B sub r30,r24 3866 1e2a F109 sbc r31,__zero_reg__ 3867 1e2c E050 subi r30,lo8(-(Poti)) 3868 1e2e F040 sbci r31,hi8(-(Poti)) 3869 1e30 8081 ld r24,Z 3870 .L365: 3871 1e32 8093 0000 sts Parameter_DynamicStability,r24 3872 1e36 8091 0000 lds r24,EE_Parameter+97 3873 1e3a 883F cpi r24,lo8(-8) 3874 1e3c 00F0 brlo .L366 3875 1e3e EFEF ldi r30,lo8(255) 3876 1e40 F0E0 ldi r31,hi8(255) 3877 1e42 E81B sub r30,r24 3878 1e44 F109 sbc r31,__zero_reg__ 3879 1e46 E050 subi r30,lo8(-(Poti)) 3880 1e48 F040 sbci r31,hi8(-(Poti)) 3881 1e4a 8081 ld r24,Z 3882 .L366: 3883 1e4c 8093 0000 sts Parameter_ExternalControl,r24 3884 1e50 8091 0000 lds r24,Parameter_I_Faktor 3885 1e54 282F mov r18,r24 3886 1e56 3327 clr r19 3887 1e58 2F5F subi r18,lo8(-(1)) 3888 1e5a 3F4F sbci r19,hi8(-(1)) 3889 1e5c 8CE3 ldi r24,lo8(10300) 3890 1e5e 98E2 ldi r25,hi8(10300) 3891 1e60 B901 movw r22,r18 3892 1e62 0E94 0000 call __divmodhi4 3893 1e66 7093 0000 sts (Ki)+1,r23 3894 1e6a 6093 0000 sts Ki,r22 3895 1e6e 8091 0000 lds r24,EE_Parameter+27 3896 1e72 8093 0000 sts MAX_GAS,r24 3897 1e76 8091 0000 lds r24,EE_Parameter+26 3898 1e7a 8093 0000 sts MIN_GAS,r24 3899 1e7e 9091 0000 lds r25,EE_Parameter+99 3900 1e82 9333 cpi r25,lo8(51) 3901 1e84 00F4 brsh .+2 3902 1e86 00C0 rjmp .L310 3903 1e88 81E0 ldi r24,lo8(1) 3904 1e8a 8093 0000 sts CareFree,r24 3905 1e8e 983F cpi r25,lo8(-8) 3906 1e90 00F0 brlo .L311 3907 1e92 EFEF ldi r30,lo8(255) 3908 1e94 F0E0 ldi r31,hi8(255) 3909 1e96 E91B sub r30,r25 3910 1e98 F109 sbc r31,__zero_reg__ 3911 1e9a E050 subi r30,lo8(-(Poti)) 3912 1e9c F040 sbci r31,hi8(-(Poti)) 3913 1e9e 8081 ld r24,Z 3914 1ea0 8233 cpi r24,lo8(50) 3915 1ea2 00F4 brsh .L311 3916 1ea4 1092 0000 sts CareFree,__zero_reg__ 3917 .L311: 3918 1ea8 8091 0000 lds r24,carefree_old 3919 1eac 2091 0000 lds r18,CareFree 3920 1eb0 8217 cp r24,r18 3921 1eb2 01F0 breq .L312 3922 1eb4 8330 cpi r24,lo8(3) 3923 1eb6 00F4 brsh .L313 3924 1eb8 3091 0000 lds r19,SpeakHoTT 3925 1ebc 2223 tst r18 3926 1ebe 01F0 breq .L314 3927 1ec0 8CED ldi r24,lo8(1500) 3928 1ec2 95E0 ldi r25,hi8(1500) 3929 1ec4 9093 0000 sts (beeptime)+1,r25 3930 1ec8 8093 0000 sts beeptime,r24 3931 1ecc 3323 tst r19 3932 1ece 01F4 brne .L316 3933 1ed0 8EE2 ldi r24,lo8(46) 3934 1ed2 00C0 rjmp .L367 3935 .L314: 3936 1ed4 88EC ldi r24,lo8(200) 3937 1ed6 90E0 ldi r25,hi8(200) 3938 1ed8 9093 0000 sts (beeptime)+1,r25 3939 1edc 8093 0000 sts beeptime,r24 3940 1ee0 3323 tst r19 3941 1ee2 01F4 brne .L316 3942 1ee4 87E1 ldi r24,lo8(23) 3943 .L367: 3944 1ee6 8093 0000 sts SpeakHoTT,r24 3945 .L316: 3946 1eea 85E0 ldi r24,lo8(5) 3947 1eec 8093 0000 sts NeueKompassRichtungMerken,r24 3948 1ef0 2093 0000 sts carefree_old,r18 3949 1ef4 00C0 rjmp .L312 3950 .L313: 3951 1ef6 8150 subi r24,lo8(-(-1)) 3952 1ef8 8093 0000 sts carefree_old,r24 3953 .L312: 3954 1efc 8091 0000 lds r24,FromNaviCtrl+7 3955 1f00 9091 0000 lds r25,(FromNaviCtrl+7)+1 3956 1f04 97FF sbrs r25,7 3957 1f06 00C0 rjmp .L320 3958 1f08 8091 0000 lds r24,CareFree 3959 1f0c 8823 tst r24 3960 1f0e 01F0 breq .L320 3961 1f10 8091 0000 lds r24,VersionInfo+5 3962 1f14 8068 ori r24,lo8(-128) 3963 1f16 8093 0000 sts VersionInfo+5,r24 3964 1f1a 00C0 rjmp .L320 3965 .L310: 3966 1f1c 1092 0000 sts CareFree,__zero_reg__ 3967 1f20 8AE0 ldi r24,lo8(10) 3968 1f22 8093 0000 sts carefree_old,r24 3969 .L320: 3970 1f26 8091 0000 lds r24,FromNaviCtrl+7 3971 1f2a 9091 0000 lds r25,(FromNaviCtrl+7)+1 3972 1f2e 97FF sbrs r25,7 3973 1f30 00C0 rjmp .L321 3974 1f32 8091 0000 lds r24,MotorenEin 3975 1f36 8823 tst r24 3976 1f38 01F0 breq .L321 3977 1f3a 8091 0000 lds r24,CareFree 3978 1f3e 8823 tst r24 3979 1f40 01F0 breq .L321 3980 1f42 8091 0000 lds r24,BeepMuster 3981 1f46 9091 0000 lds r25,(BeepMuster)+1 3982 1f4a 8F5F subi r24,lo8(-1) 3983 1f4c 9F4F sbci r25,hi8(-1) 3984 1f4e 01F4 brne .L321 3985 1f50 88E9 ldi r24,lo8(15000) 3986 1f52 9AE3 ldi r25,hi8(15000) 3987 1f54 9093 0000 sts (beeptime)+1,r25 3988 1f58 8093 0000 sts beeptime,r24 3989 1f5c 80E0 ldi r24,lo8(-23552) 3990 1f5e 94EA ldi r25,hi8(-23552) 3991 1f60 9093 0000 sts (BeepMuster)+1,r25 3992 1f64 8093 0000 sts BeepMuster,r24 3993 1f68 1092 0000 sts CareFree,__zero_reg__ 3994 .L321: 3995 1f6c 8091 0000 lds r24,CareFree 3996 1f70 8823 tst r24 3997 1f72 01F0 breq .L322 3998 1f74 8091 0000 lds r24,FC_StatusFlags2 3999 1f78 8160 ori r24,lo8(1) 4000 1f7a 8093 0000 sts FC_StatusFlags2,r24 4001 1f7e 8091 0000 lds r24,Parameter_AchsKopplung1 4002 1f82 823D cpi r24,lo8(-46) 4003 1f84 00F4 brsh .L190 4004 1f86 825E subi r24,lo8(-(30)) 4005 1f88 8093 0000 sts Parameter_AchsKopplung1,r24 4006 1f8c 00C0 rjmp .L190 4007 .L322: 4008 1f8e 8091 0000 lds r24,FC_StatusFlags2 4009 1f92 8E7F andi r24,lo8(-2) 4010 1f94 8093 0000 sts FC_StatusFlags2,r24 4011 .L190: 4012 /* epilogue: frame size=0 */ 4013 1f98 DF91 pop r29 4014 1f9a CF91 pop r28 4015 1f9c 0895 ret 4016 /* epilogue end (size=3) */ 4017 /* function ParameterZuordnung size 798 (793) */ 4019 .lcomm sollGier.0,4 4020 .lcomm tmp_long.1,4 4021 .lcomm tmp_long2.2,4 4022 .lcomm IntegralFehlerNick.3,4 4023 .lcomm IntegralFehlerRoll.4,4 4024 .lcomm RcLostTimer.5,2 4025 .lcomm delay_neutral.6,1 4026 .lcomm delay_einschalten.7,1 4027 .lcomm delay_ausschalten.8,1 4028 .lcomm move_safety_switch.9,1 4029 .lcomm ausgleichNick.10,4 4030 .lcomm ausgleichRoll.11,4 4031 .lcomm stick_nick.12,2 4032 .lcomm stick_roll.13,2 4033 .lcomm cnt.14,2 4034 .lcomm last_n_p.15,1 4035 .lcomm last_n_n.16,1 4036 .lcomm last_r_p.17,1 4037 .lcomm last_r_n.18,1 4038 .lcomm MittelIntegralNick_Alt.19,4 4039 .lcomm MittelIntegralRoll_Alt.20,4 4040 .lcomm HeightTrimming.21,2 4041 .lcomm FilterHCGas.22,2 4042 .lcomm HoverGasFilter.23,4 4043 .data 4046 delay.24: 4047 0051 64 .byte 100 4048 .lcomm BaroAtUpperLimit.25,1 4049 .lcomm BaroAtLowerLimit.26,1 4050 .text 4051 .global MotorRegler 4053 MotorRegler: 4054 /* prologue: frame size=23 */ 4055 1f9e A7E1 ldi r26,lo8(23) 4056 1fa0 B0E0 ldi r27,hi8(23) 4057 1fa2 E0E0 ldi r30,pm_lo8(1f) 4058 1fa4 F0E0 ldi r31,pm_hi8(1f) 4059 1fa6 0C94 0000 jmp __prologue_saves__+0 4060 1: 4061 /* prologue end (size=6) */ 4062 1faa 0E94 0000 call Mittelwert 4063 1fae 8091 0000 lds r24,FC_StatusFlags 4064 1fb2 9927 clr r25 4065 1fb4 8471 andi r24,lo8(20) 4066 1fb6 9070 andi r25,hi8(20) 4067 1fb8 892B or r24,r25 4068 1fba 01F4 brne .L371 4069 1fbc 8091 0000 lds r24,EE_Parameter+111 4070 1fc0 82FF sbrs r24,2 4071 1fc2 00C0 rjmp .L372 4072 1fc4 8091 0000 lds r24,HoverGas 4073 1fc8 9091 0000 lds r25,(HoverGas)+1 4074 1fcc 0097 sbiw r24,0 4075 1fce 01F0 breq .L373 4076 1fd0 02E0 ldi r16,hi8(600) 4077 1fd2 8835 cpi r24,lo8(600) 4078 1fd4 9007 cpc r25,r16 4079 1fd6 04F4 brge .L373 4080 1fd8 9C01 movw r18,r24 4081 1fda 97FF sbrs r25,7 4082 1fdc 00C0 rjmp .L374 4083 1fde 2D5F subi r18,lo8(-(3)) 4084 1fe0 3F4F sbci r19,hi8(-(3)) 4085 .L374: 4086 1fe2 3595 asr r19 4087 1fe4 2795 ror r18 4088 1fe6 3595 asr r19 4089 1fe8 2795 ror r18 4090 1fea 8091 0000 lds r24,EE_Parameter+37 4091 1fee 9927 clr r25 4092 1ff0 289F mul r18,r24 4093 1ff2 A001 movw r20,r0 4094 1ff4 299F mul r18,r25 4095 1ff6 500D add r21,r0 4096 1ff8 389F mul r19,r24 4097 1ffa 500D add r21,r0 4098 1ffc 1124 clr r1 4099 1ffe CA01 movw r24,r20 4100 2000 64E6 ldi r22,lo8(100) 4101 2002 70E0 ldi r23,hi8(100) 4102 2004 0E94 0000 call __divmodhi4 4103 2008 CB01 movw r24,r22 4104 200a 00C0 rjmp .L893 4105 .L373: 4106 200c 8DE2 ldi r24,lo8(45) 4107 200e 90E0 ldi r25,hi8(45) 4108 2010 00C0 rjmp .L893 4109 .L372: 4110 2012 8091 0000 lds r24,EE_Parameter+37 4111 2016 9927 clr r25 4112 .L893: 4113 2018 9093 0000 sts (HooverGasEmergencyPercent)+1,r25 4114 201c 8093 0000 sts HooverGasEmergencyPercent,r24 4115 .L371: 4116 2020 2091 0000 lds r18,GasIsZeroCnt 4117 2024 3091 0000 lds r19,(GasIsZeroCnt)+1 4118 2028 55E7 ldi r21,hi8(30000) 4119 202a 2033 cpi r18,lo8(30000) 4120 202c 3507 cpc r19,r21 4121 202e 01F4 brne .L377 4122 2030 1092 0000 sts (StickGas)+1,__zero_reg__ 4123 2034 1092 0000 sts StickGas,__zero_reg__ 4124 2038 8091 0000 lds r24,MIN_GAS 4125 203c 9927 clr r25 4126 203e 9093 0000 sts (HooverGasEmergencyPercent)+1,r25 4127 2042 8093 0000 sts HooverGasEmergencyPercent,r24 4128 .L377: 4129 2046 6091 0000 lds r22,StickGas 4130 204a 7091 0000 lds r23,(StickGas)+1 4131 204e 7A83 std Y+2,r23 4132 2050 6983 std Y+1,r22 4133 2052 8091 0000 lds r24,MIN_GAS 4134 2056 9927 clr r25 4135 2058 0A96 adiw r24,10 4136 205a 6817 cp r22,r24 4137 205c 7907 cpc r23,r25 4138 205e 04F4 brge .L378 4139 2060 9A83 std Y+2,r25 4140 2062 8983 std Y+1,r24 4141 .L378: 4142 2064 8091 0000 lds r24,SenderOkay 4143 2068 8436 cpi r24,lo8(100) 4144 206a 00F0 brlo .+2 4145 206c 00C0 rjmp .L379 4146 206e 8091 0000 lds r24,FC_StatusFlags2 4147 2072 82FD sbrc r24,2 4148 2074 00C0 rjmp .L379 4149 2076 8091 0000 lds r24,RcLostTimer.5 4150 207a 9091 0000 lds r25,(RcLostTimer.5)+1 4151 207e 0097 sbiw r24,0 4152 2080 01F0 breq .L380 4153 2082 0197 sbiw r24,1 4154 2084 9093 0000 sts (RcLostTimer.5)+1,r25 4155 2088 8093 0000 sts RcLostTimer.5,r24 4156 208c 00C0 rjmp .L381 4157 .L380: 4158 208e 1092 0000 sts MotorenEin,__zero_reg__ 4159 2092 9093 0000 sts (modell_fliegt)+1,r25 4160 2096 8093 0000 sts modell_fliegt,r24 4161 209a 8091 0000 lds r24,FC_StatusFlags 4162 209e 8D7E andi r24,lo8(-19) 4163 20a0 8093 0000 sts FC_StatusFlags,r24 4164 .L381: 4165 20a4 8091 0000 lds r24,PlatinenVersion 4166 20a8 8A30 cpi r24,lo8(10) 4167 20aa 01F0 breq .L383 4168 20ac 8431 cpi r24,lo8(20) 4169 20ae 00F0 brlo .L382 4170 .L383: 4171 20b0 289A sbi 37-0x20,0 4172 20b2 00C0 rjmp .L384 4173 .L382: 4174 20b4 2898 cbi 37-0x20,0 4175 .L384: 4176 20b6 8091 0000 lds r24,modell_fliegt 4177 20ba 9091 0000 lds r25,(modell_fliegt)+1 4178 20be 895E subi r24,lo8(1001) 4179 20c0 9340 sbci r25,hi8(1001) 4180 20c2 00F0 brlo .L385 4181 20c4 8091 0000 lds r24,Capacity+6 4182 20c8 8536 cpi r24,lo8(101) 4183 20ca 00F0 brlo .L385 4184 20cc 8091 0000 lds r24,HooverGasEmergencyPercent 4185 20d0 9091 0000 lds r25,(HooverGasEmergencyPercent)+1 4186 20d4 9A83 std Y+2,r25 4187 20d6 8983 std Y+1,r24 4188 20d8 8091 0000 lds r24,FC_StatusFlags 4189 20dc 8061 ori r24,lo8(16) 4190 20de 8093 0000 sts FC_StatusFlags,r24 4191 20e2 8091 0000 lds r24,EE_Parameter+1 4192 20e6 A82F mov r26,r24 4193 20e8 BB27 clr r27 4194 20ea AA0F add r26,r26 4195 20ec BB1F adc r27,r27 4196 20ee FD01 movw r30,r26 4197 20f0 E050 subi r30,lo8(-(PPM_diff)) 4198 20f2 F040 sbci r31,hi8(-(PPM_diff)) 4199 20f4 1182 std Z+1,__zero_reg__ 4200 20f6 1082 st Z,__zero_reg__ 4201 20f8 8091 0000 lds r24,EE_Parameter+2 4202 20fc 282F mov r18,r24 4203 20fe 3327 clr r19 4204 2100 220F add r18,r18 4205 2102 331F adc r19,r19 4206 2104 C901 movw r24,r18 4207 2106 8050 subi r24,lo8(-(PPM_diff)) 4208 2108 9040 sbci r25,hi8(-(PPM_diff)) 4209 210a FC01 movw r30,r24 4210 210c 1182 std Z+1,__zero_reg__ 4211 210e 1082 st Z,__zero_reg__ 4212 2110 A050 subi r26,lo8(-(PPM_in)) 4213 2112 B040 sbci r27,hi8(-(PPM_in)) 4214 2114 1196 adiw r26,1 4215 2116 1C92 st X,__zero_reg__ 4216 2118 1E92 st -X,__zero_reg__ 4217 211a 2050 subi r18,lo8(-(PPM_in)) 4218 211c 3040 sbci r19,hi8(-(PPM_in)) 4219 211e D901 movw r26,r18 4220 2120 1196 adiw r26,1 4221 2122 1C92 st X,__zero_reg__ 4222 2124 1E92 st -X,__zero_reg__ 4223 2126 8091 0000 lds r24,EE_Parameter+4 4224 212a E82F mov r30,r24 4225 212c FF27 clr r31 4226 212e EE0F add r30,r30 4227 2130 FF1F adc r31,r31 4228 2132 E050 subi r30,lo8(-(PPM_in)) 4229 2134 F040 sbci r31,hi8(-(PPM_in)) 4230 2136 1182 std Z+1,__zero_reg__ 4231 2138 1082 st Z,__zero_reg__ 4232 213a 00C0 rjmp .L387 4233 .L385: 4234 213c 1092 0000 sts MotorenEin,__zero_reg__ 4235 2140 00C0 rjmp .L387 4236 .L379: 4237 2142 8091 0000 lds r24,SenderOkay 4238 2146 8D38 cpi r24,lo8(-115) 4239 2148 00F4 brsh .+2 4240 214a 00C0 rjmp .L388 4241 214c 8091 0000 lds r24,FC_StatusFlags 4242 2150 8F7E andi r24,lo8(-17) 4243 2152 8093 0000 sts FC_StatusFlags,r24 4244 2156 9091 0000 lds r25,EE_Parameter+38 4245 215a 82E3 ldi r24,lo8(50) 4246 215c 989F mul r25,r24 4247 215e C001 movw r24,r0 4248 2160 1124 clr r1 4249 2162 9093 0000 sts (RcLostTimer.5)+1,r25 4250 2166 8093 0000 sts RcLostTimer.5,r24 4251 216a E981 ldd r30,Y+1 4252 216c FA81 ldd r31,Y+2 4253 216e B997 sbiw r30,41 4254 2170 04F0 brlt .L389 4255 2172 8091 0000 lds r24,MotorenEin 4256 2176 8823 tst r24 4257 2178 01F0 breq .L389 4258 217a 8091 0000 lds r24,modell_fliegt 4259 217e 9091 0000 lds r25,(modell_fliegt)+1 4260 2182 FFEF ldi r31,hi8(-1) 4261 2184 8F3F cpi r24,lo8(-1) 4262 2186 9F07 cpc r25,r31 4263 2188 01F0 breq .L389 4264 218a 0196 adiw r24,1 4265 218c 9093 0000 sts (modell_fliegt)+1,r25 4266 2190 8093 0000 sts modell_fliegt,r24 4267 .L389: 4268 2194 8091 0000 lds r24,modell_fliegt 4269 2198 9091 0000 lds r25,(modell_fliegt)+1 4270 219c 8F3F cpi r24,255 4271 219e 9105 cpc r25,__zero_reg__ 4272 21a0 01F0 breq .+2 4273 21a2 00F4 brsh .L391 4274 21a4 1092 0000 sts SummeNick,__zero_reg__ 4275 21a8 1092 0000 sts (SummeNick)+1,__zero_reg__ 4276 21ac 1092 0000 sts (SummeNick)+2,__zero_reg__ 4277 21b0 1092 0000 sts (SummeNick)+3,__zero_reg__ 4278 21b4 1092 0000 sts SummeRoll,__zero_reg__ 4279 21b8 1092 0000 sts (SummeRoll)+1,__zero_reg__ 4280 21bc 1092 0000 sts (SummeRoll)+2,__zero_reg__ 4281 21c0 1092 0000 sts (SummeRoll)+3,__zero_reg__ 4282 21c4 1092 0000 sts sollGier.0,__zero_reg__ 4283 21c8 1092 0000 sts (sollGier.0)+1,__zero_reg__ 4284 21cc 1092 0000 sts (sollGier.0)+2,__zero_reg__ 4285 21d0 1092 0000 sts (sollGier.0)+3,__zero_reg__ 4286 21d4 1092 0000 sts Mess_Integral_Gier,__zero_reg__ 4287 21d8 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ 4288 21dc 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ 4289 21e0 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ 4290 21e4 00C0 rjmp .L392 4291 .L391: 4292 21e6 8091 0000 lds r24,FC_StatusFlags 4293 21ea 8260 ori r24,lo8(2) 4294 21ec 8093 0000 sts FC_StatusFlags,r24 4295 .L392: 4296 21f0 8091 0000 lds r24,EE_Parameter+3 4297 21f4 E82F mov r30,r24 4298 21f6 FF27 clr r31 4299 21f8 EE0F add r30,r30 4300 21fa FF1F adc r31,r31 4301 21fc E050 subi r30,lo8(-(PPM_in)) 4302 21fe F040 sbci r31,hi8(-(PPM_in)) 4303 2200 8081 ld r24,Z 4304 2202 9181 ldd r25,Z+1 4305 2204 8135 cpi r24,81 4306 2206 9105 cpc r25,__zero_reg__ 4307 2208 04F4 brge .+2 4308 220a 00C0 rjmp .L393 4309 220c 2091 0000 lds r18,MotorenEin 4310 2210 2223 tst r18 4311 2212 01F0 breq .+2 4312 2214 00C0 rjmp .L393 4313 2216 8091 0000 lds r24,EE_Parameter+4 4314 221a E82F mov r30,r24 4315 221c FF27 clr r31 4316 221e EE0F add r30,r30 4317 2220 FF1F adc r31,r31 4318 2222 E050 subi r30,lo8(-(PPM_in)) 4319 2224 F040 sbci r31,hi8(-(PPM_in)) 4320 2226 8081 ld r24,Z 4321 2228 9181 ldd r25,Z+1 4322 222a 8C34 cpi r24,76 4323 222c 9105 cpc r25,__zero_reg__ 4324 222e 04F4 brge .+2 4325 2230 00C0 rjmp .L394 4326 2232 8091 0000 lds r24,delay_neutral.6 4327 2236 8F5F subi r24,lo8(-(1)) 4328 2238 8093 0000 sts delay_neutral.6,r24 4329 223c 893C cpi r24,lo8(-55) 4330 223e 00F4 brsh .+2 4331 2240 00C0 rjmp .L393 4332 2242 2093 0000 sts delay_neutral.6,r18 4333 2246 1092 0000 sts (modell_fliegt)+1,__zero_reg__ 4334 224a 1092 0000 sts modell_fliegt,__zero_reg__ 4335 224e 3091 0000 lds r19,EE_Parameter+1 4336 2252 E32F mov r30,r19 4337 2254 FF27 clr r31 4338 2256 EE0F add r30,r30 4339 2258 FF1F adc r31,r31 4340 225a E050 subi r30,lo8(-(PPM_in)) 4341 225c F040 sbci r31,hi8(-(PPM_in)) 4342 225e 8081 ld r24,Z 4343 2260 9181 ldd r25,Z+1 4344 2262 8734 cpi r24,71 4345 2264 9105 cpc r25,__zero_reg__ 4346 2266 04F4 brge .L397 4347 2268 8091 0000 lds r24,EE_Parameter+2 4348 226c E82F mov r30,r24 4349 226e FF27 clr r31 4350 2270 EE0F add r30,r30 4351 2272 FF1F adc r31,r31 4352 2274 E050 subi r30,lo8(-(PPM_in)) 4353 2276 F040 sbci r31,hi8(-(PPM_in)) 4354 2278 8081 ld r24,Z 4355 227a 9181 ldd r25,Z+1 4356 227c 0190 ld __tmp_reg__,Z+ 4357 227e F081 ld r31,Z 4358 2280 E02D mov r30,__tmp_reg__ 4359 2282 F7FF sbrs r31,7 4360 2284 00C0 rjmp .L398 4361 2286 F095 com r31 4362 2288 E195 neg r30 4363 228a FF4F sbci r31,lo8(-1) 4364 .L398: 4365 228c E734 cpi r30,71 4366 228e F105 cpc r31,__zero_reg__ 4367 2290 04F4 brge .+2 4368 2292 00C0 rjmp .L396 4369 .L397: 4370 2294 41E0 ldi r20,lo8(1) 4371 2296 2091 0000 lds r18,EE_Parameter+2 4372 229a A22F mov r26,r18 4373 229c BB27 clr r27 4374 229e AA0F add r26,r26 4375 22a0 BB1F adc r27,r27 4376 22a2 A050 subi r26,lo8(-(PPM_in)) 4377 22a4 B040 sbci r27,hi8(-(PPM_in)) 4378 22a6 8D91 ld r24,X+ 4379 22a8 9C91 ld r25,X 4380 22aa 1197 sbiw r26,1 4381 22ac 8734 cpi r24,71 4382 22ae 9105 cpc r25,__zero_reg__ 4383 22b0 04F0 brlt .L399 4384 22b2 E32F mov r30,r19 4385 22b4 FF27 clr r31 4386 22b6 EE0F add r30,r30 4387 22b8 FF1F adc r31,r31 4388 22ba E050 subi r30,lo8(-(PPM_in)) 4389 22bc F040 sbci r31,hi8(-(PPM_in)) 4390 22be 8081 ld r24,Z 4391 22c0 9181 ldd r25,Z+1 4392 .L399: 4393 22c2 8D91 ld r24,X+ 4394 22c4 9C91 ld r25,X 4395 22c6 8734 cpi r24,71 4396 22c8 9105 cpc r25,__zero_reg__ 4397 22ca 04F0 brlt .L400 4398 22cc 8091 0000 lds r24,EE_Parameter+1 4399 22d0 E82F mov r30,r24 4400 22d2 FF27 clr r31 4401 22d4 EE0F add r30,r30 4402 22d6 FF1F adc r31,r31 4403 22d8 E050 subi r30,lo8(-(PPM_in)) 4404 22da F040 sbci r31,hi8(-(PPM_in)) 4405 22dc 8081 ld r24,Z 4406 22de 9181 ldd r25,Z+1 4407 22e0 8734 cpi r24,71 4408 22e2 9105 cpc r25,__zero_reg__ 4409 22e4 04F0 brlt .L400 4410 22e6 42E0 ldi r20,lo8(2) 4411 .L400: 4412 22e8 E22F mov r30,r18 4413 22ea FF27 clr r31 4414 22ec EE0F add r30,r30 4415 22ee FF1F adc r31,r31 4416 22f0 E050 subi r30,lo8(-(PPM_in)) 4417 22f2 F040 sbci r31,hi8(-(PPM_in)) 4418 22f4 8081 ld r24,Z 4419 22f6 9181 ldd r25,Z+1 4420 22f8 8634 cpi r24,70 4421 22fa 9105 cpc r25,__zero_reg__ 4422 22fc 04F4 brge .L401 4423 22fe 8091 0000 lds r24,EE_Parameter+1 4424 2302 E82F mov r30,r24 4425 2304 FF27 clr r31 4426 2306 EE0F add r30,r30 4427 2308 FF1F adc r31,r31 4428 230a E050 subi r30,lo8(-(PPM_in)) 4429 230c F040 sbci r31,hi8(-(PPM_in)) 4430 230e 8081 ld r24,Z 4431 2310 9181 ldd r25,Z+1 4432 2312 8734 cpi r24,71 4433 2314 9105 cpc r25,__zero_reg__ 4434 2316 04F0 brlt .L401 4435 2318 43E0 ldi r20,lo8(3) 4436 .L401: 4437 231a E22F mov r30,r18 4438 231c FF27 clr r31 4439 231e EE0F add r30,r30 4440 2320 FF1F adc r31,r31 4441 2322 E050 subi r30,lo8(-(PPM_in)) 4442 2324 F040 sbci r31,hi8(-(PPM_in)) 4443 2326 8081 ld r24,Z 4444 2328 9181 ldd r25,Z+1 4445 232a 8A5B subi r24,lo8(-70) 4446 232c 9F4F sbci r25,hi8(-70) 4447 232e 04F4 brge .L402 4448 2330 8091 0000 lds r24,EE_Parameter+1 4449 2334 E82F mov r30,r24 4450 2336 FF27 clr r31 4451 2338 EE0F add r30,r30 4452 233a FF1F adc r31,r31 4453 233c E050 subi r30,lo8(-(PPM_in)) 4454 233e F040 sbci r31,hi8(-(PPM_in)) 4455 2340 8081 ld r24,Z 4456 2342 9181 ldd r25,Z+1 4457 2344 8734 cpi r24,71 4458 2346 9105 cpc r25,__zero_reg__ 4459 2348 04F0 brlt .L402 4460 234a 44E0 ldi r20,lo8(4) 4461 .L402: 4462 234c E22F mov r30,r18 4463 234e FF27 clr r31 4464 2350 EE0F add r30,r30 4465 2352 FF1F adc r31,r31 4466 2354 E050 subi r30,lo8(-(PPM_in)) 4467 2356 F040 sbci r31,hi8(-(PPM_in)) 4468 2358 8081 ld r24,Z 4469 235a 9181 ldd r25,Z+1 4470 235c 8A5B subi r24,lo8(-70) 4471 235e 9F4F sbci r25,hi8(-70) 4472 2360 04F4 brge .L403 4473 2362 8091 0000 lds r24,EE_Parameter+1 4474 2366 E82F mov r30,r24 4475 2368 FF27 clr r31 4476 236a EE0F add r30,r30 4477 236c FF1F adc r31,r31 4478 236e E050 subi r30,lo8(-(PPM_in)) 4479 2370 F040 sbci r31,hi8(-(PPM_in)) 4480 2372 8081 ld r24,Z 4481 2374 9181 ldd r25,Z+1 4482 2376 8634 cpi r24,70 4483 2378 9105 cpc r25,__zero_reg__ 4484 237a 04F4 brge .L403 4485 237c 45E0 ldi r20,lo8(5) 4486 .L403: 4487 237e 842F mov r24,r20 4488 2380 0E94 0000 call SetActiveParamSet 4489 .L396: 4490 2384 8091 0000 lds r24,EE_Parameter+2 4491 2388 E82F mov r30,r24 4492 238a FF27 clr r31 4493 238c EE0F add r30,r30 4494 238e FF1F adc r31,r31 4495 2390 E050 subi r30,lo8(-(PPM_in)) 4496 2392 F040 sbci r31,hi8(-(PPM_in)) 4497 2394 8081 ld r24,Z 4498 2396 9181 ldd r25,Z+1 4499 2398 0190 ld __tmp_reg__,Z+ 4500 239a F081 ld r31,Z 4501 239c E02D mov r30,__tmp_reg__ 4502 239e F7FF sbrs r31,7 4503 23a0 00C0 rjmp .L405 4504 23a2 F095 com r31 4505 23a4 E195 neg r30 4506 23a6 FF4F sbci r31,lo8(-1) 4507 .L405: 4508 23a8 7E97 sbiw r30,30 4509 23aa 04F4 brge .L404 4510 23ac 8091 0000 lds r24,EE_Parameter+1 4511 23b0 E82F mov r30,r24 4512 23b2 FF27 clr r31 4513 23b4 EE0F add r30,r30 4514 23b6 FF1F adc r31,r31 4515 23b8 E050 subi r30,lo8(-(PPM_in)) 4516 23ba F040 sbci r31,hi8(-(PPM_in)) 4517 23bc 8081 ld r24,Z 4518 23be 9181 ldd r25,Z+1 4519 23c0 8A5B subi r24,lo8(-70) 4520 23c2 9F4F sbci r25,hi8(-70) 4521 23c4 04F4 brge .L404 4522 23c6 81E0 ldi r24,lo8(1) 4523 23c8 8093 0000 sts WinkelOut+6,r24 4524 23cc 1092 0000 sts CalibrationDone,__zero_reg__ 4525 23d0 88EE ldi r24,lo8(1000) 4526 23d2 93E0 ldi r25,hi8(1000) 4527 23d4 9093 0000 sts (beeptime)+1,r25 4528 23d8 8093 0000 sts beeptime,r24 4529 23dc 00C0 rjmp .L393 4530 .L404: 4531 23de 0E94 0000 call GetActiveParamSet 4532 23e2 0E94 0000 call ParamSet_ReadFromEEProm 4533 23e6 80E0 ldi r24,lo8(0) 4534 23e8 0E94 0000 call LipoDetection 4535 23ec 8091 0000 lds r24,EE_Parameter+39 4536 23f0 0E94 0000 call LIBFC_ReceiverInit 4537 23f4 8091 0000 lds r24,Parameter_GlobalConfig 4538 23f8 80FF sbrs r24,0 4539 23fa 00C0 rjmp .L407 4540 23fc 8091 0000 lds r24,MessLuftdruck 4541 2400 9091 0000 lds r25,(MessLuftdruck)+1 4542 2404 875B subi r24,lo8(951) 4543 2406 9340 sbci r25,hi8(951) 4544 2408 00F4 brsh .L409 4545 240a 8091 0000 lds r24,MessLuftdruck 4546 240e 9091 0000 lds r25,(MessLuftdruck)+1 4547 2412 8E5E subi r24,lo8(750) 4548 2414 9240 sbci r25,hi8(750) 4549 2416 00F4 brsh .L407 4550 .L409: 4551 2418 0E94 0000 call SucheLuftruckOffset 4552 .L407: 4553 241c 80E0 ldi r24,lo8(0) 4554 241e 0E94 0000 call SetNeutral 4555 2422 81E0 ldi r24,lo8(1) 4556 2424 8093 0000 sts CalibrationDone,r24 4557 2428 8093 0000 sts ServoActive,r24 4558 242c 579A sbi 42-0x20,7 4559 242e 00C0 rjmp .L894 4560 .L394: 4561 2430 8081 ld r24,Z 4562 2432 9181 ldd r25,Z+1 4563 2434 855B subi r24,lo8(-75) 4564 2436 9F4F sbci r25,hi8(-75) 4565 2438 04F4 brge .L411 4566 243a 8091 0000 lds r24,delay_neutral.6 4567 243e 8F5F subi r24,lo8(-(1)) 4568 2440 8093 0000 sts delay_neutral.6,r24 4569 2444 893C cpi r24,lo8(-55) 4570 2446 00F0 brlo .L393 4571 2448 2093 0000 sts MotorenEin,r18 4572 244c 2093 0000 sts delay_neutral.6,r18 4573 2450 1092 0000 sts (modell_fliegt)+1,__zero_reg__ 4574 2454 1092 0000 sts modell_fliegt,__zero_reg__ 4575 2458 81E0 ldi r24,lo8(1) 4576 245a 0E94 0000 call SetNeutral 4577 245e 81E0 ldi r24,lo8(1) 4578 2460 8093 0000 sts CalibrationDone,r24 4579 .L894: 4580 2464 88E1 ldi r24,lo8(24) 4581 2466 8093 0000 sts SpeakHoTT,r24 4582 246a 0E94 0000 call GetActiveParamSet 4583 246e 68E7 ldi r22,lo8(120) 4584 2470 70E0 ldi r23,hi8(120) 4585 2472 0E94 0000 call Piep 4586 2476 00C0 rjmp .L393 4587 .L411: 4588 2478 2093 0000 sts delay_neutral.6,r18 4589 .L393: 4590 247c 8091 0000 lds r24,EE_Parameter+3 4591 2480 E82F mov r30,r24 4592 2482 FF27 clr r31 4593 2484 EE0F add r30,r30 4594 2486 FF1F adc r31,r31 4595 2488 E050 subi r30,lo8(-(PPM_in)) 4596 248a F040 sbci r31,hi8(-(PPM_in)) 4597 248c 8081 ld r24,Z 4598 248e 9181 ldd r25,Z+1 4599 2490 8B5A subi r24,lo8(-85) 4600 2492 9F4F sbci r25,hi8(-85) 4601 2494 04F0 brlt .+2 4602 2496 00C0 rjmp .L414 4603 2498 2091 0000 lds r18,EE_Parameter+100 4604 249c E22F mov r30,r18 4605 249e FF27 clr r31 4606 24a0 EF77 andi r30,lo8(127) 4607 24a2 F070 andi r31,hi8(127) 4608 24a4 EE0F add r30,r30 4609 24a6 FF1F adc r31,r31 4610 24a8 E050 subi r30,lo8(-(PPM_diff)) 4611 24aa F040 sbci r31,hi8(-(PPM_diff)) 4612 24ac 8081 ld r24,Z 4613 24ae 9181 ldd r25,Z+1 4614 24b0 0697 sbiw r24,6 4615 24b2 04F0 brlt .L415 4616 24b4 84E6 ldi r24,lo8(100) 4617 24b6 00C0 rjmp .L895 4618 .L415: 4619 24b8 8081 ld r24,Z 4620 24ba 9181 ldd r25,Z+1 4621 24bc 8B5F subi r24,lo8(-5) 4622 24be 9F4F sbci r25,hi8(-5) 4623 24c0 04F4 brge .L416 4624 24c2 8CE9 ldi r24,lo8(-100) 4625 .L895: 4626 24c4 8093 0000 sts move_safety_switch.9,r24 4627 .L416: 4628 24c8 8091 0000 lds r24,MotorenEin 4629 24cc E091 0000 lds r30,EE_Parameter+4 4630 24d0 8823 tst r24 4631 24d2 01F0 breq .+2 4632 24d4 00C0 rjmp .L418 4633 24d6 FF27 clr r31 4634 24d8 EE0F add r30,r30 4635 24da FF1F adc r31,r31 4636 24dc E050 subi r30,lo8(-(PPM_in)) 4637 24de F040 sbci r31,hi8(-(PPM_in)) 4638 24e0 8081 ld r24,Z 4639 24e2 9181 ldd r25,Z+1 4640 24e4 855B subi r24,lo8(-75) 4641 24e6 9F4F sbci r25,hi8(-75) 4642 24e8 04F4 brge .L421 4643 24ea 8091 0000 lds r24,EE_Parameter+111 4644 24ee 83FD sbrc r24,3 4645 24f0 00C0 rjmp .L422 4646 24f2 E22F mov r30,r18 4647 24f4 FF27 clr r31 4648 24f6 EE0F add r30,r30 4649 24f8 FF1F adc r31,r31 4650 24fa E050 subi r30,lo8(-(PPM_in)) 4651 24fc F040 sbci r31,hi8(-(PPM_in)) 4652 24fe 8081 ld r24,Z 4653 2500 9181 ldd r25,Z+1 4654 2502 855B subi r24,lo8(-75) 4655 2504 9F4F sbci r25,hi8(-75) 4656 2506 04F0 brlt .L420 4657 .L422: 4658 2508 8091 0000 lds r24,EE_Parameter+100 4659 250c 8823 tst r24 4660 250e 01F0 breq .L420 4661 .L421: 4662 2510 8091 0000 lds r24,EE_Parameter+111 4663 2514 83FF sbrs r24,3 4664 2516 00C0 rjmp .L419 4665 2518 8091 0000 lds r24,EE_Parameter+100 4666 251c E82F mov r30,r24 4667 251e FF27 clr r31 4668 2520 EE0F add r30,r30 4669 2522 FF1F adc r31,r31 4670 2524 E050 subi r30,lo8(-(PPM_in)) 4671 2526 F040 sbci r31,hi8(-(PPM_in)) 4672 2528 8081 ld r24,Z 4673 252a 9181 ldd r25,Z+1 4674 252c 875F subi r24,lo8(-9) 4675 252e 9F4F sbci r25,hi8(-9) 4676 2530 04F4 brge .+2 4677 2532 00C0 rjmp .L419 4678 2534 8091 0000 lds r24,move_safety_switch.9 4679 2538 8436 cpi r24,lo8(100) 4680 253a 01F0 breq .+2 4681 253c 00C0 rjmp .L419 4682 .L420: 4683 253e 2091 0000 lds r18,CalibrationDone 4684 2542 2223 tst r18 4685 2544 01F0 breq .L423 4686 2546 8091 0000 lds r24,FC_StatusFlags 4687 254a 8860 ori r24,lo8(8) 4688 254c 8093 0000 sts FC_StatusFlags,r24 4689 .L423: 4690 2550 8091 0000 lds r24,delay_einschalten.7 4691 2554 8F5F subi r24,lo8(-(1)) 4692 2556 8093 0000 sts delay_einschalten.7,r24 4693 255a 8E3F cpi r24,lo8(-2) 4694 255c 00F4 brsh .+2 4695 255e 00C0 rjmp .L429 4696 2560 1092 0000 sts delay_einschalten.7,__zero_reg__ 4697 2564 8091 0000 lds r24,VersionInfo+5 4698 2568 8823 tst r24 4699 256a 01F0 breq .+2 4700 256c 00C0 rjmp .L425 4701 256e 2223 tst r18 4702 2570 01F4 brne .+2 4703 2572 00C0 rjmp .L425 4704 2574 8091 0000 lds r24,NC_ErrorCode 4705 2578 8823 tst r24 4706 257a 01F0 breq .+2 4707 257c 00C0 rjmp .L425 4708 257e 81E0 ldi r24,lo8(1) 4709 2580 90E0 ldi r25,hi8(1) 4710 2582 9093 0000 sts (modell_fliegt)+1,r25 4711 2586 8093 0000 sts modell_fliegt,r24 4712 258a 81E0 ldi r24,lo8(1) 4713 258c 8093 0000 sts MotorenEin,r24 4714 2590 1092 0000 sts sollGier.0,__zero_reg__ 4715 2594 1092 0000 sts (sollGier.0)+1,__zero_reg__ 4716 2598 1092 0000 sts (sollGier.0)+2,__zero_reg__ 4717 259c 1092 0000 sts (sollGier.0)+3,__zero_reg__ 4718 25a0 1092 0000 sts Mess_Integral_Gier,__zero_reg__ 4719 25a4 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ 4720 25a8 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ 4721 25ac 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ 4722 25b0 1092 0000 sts Mess_Integral_Gier2,__zero_reg__ 4723 25b4 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__ 4724 25b8 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__ 4725 25bc 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__ 4726 25c0 8091 0000 lds r24,EE_Parameter+28 4727 25c4 E82E mov r14,r24 4728 25c6 FF24 clr r15 4729 25c8 0027 clr r16 4730 25ca 1127 clr r17 4731 25cc 8091 0000 lds r24,Mittelwert_AccNick 4732 25d0 9091 0000 lds r25,(Mittelwert_AccNick)+1 4733 25d4 9C01 movw r18,r24 4734 25d6 4427 clr r20 4735 25d8 37FD sbrc r19,7 4736 25da 4095 com r20 4737 25dc 542F mov r21,r20 4738 25de C801 movw r24,r16 4739 25e0 B701 movw r22,r14 4740 25e2 0E94 0000 call __mulsi3 4741 25e6 DC01 movw r26,r24 4742 25e8 CB01 movw r24,r22 4743 25ea 8093 0000 sts Mess_IntegralNick,r24 4744 25ee 9093 0000 sts (Mess_IntegralNick)+1,r25 4745 25f2 A093 0000 sts (Mess_IntegralNick)+2,r26 4746 25f6 B093 0000 sts (Mess_IntegralNick)+3,r27 4747 25fa 8091 0000 lds r24,Mittelwert_AccRoll 4748 25fe 9091 0000 lds r25,(Mittelwert_AccRoll)+1 4749 2602 9C01 movw r18,r24 4750 2604 4427 clr r20 4751 2606 37FD sbrc r19,7 4752 2608 4095 com r20 4753 260a 542F mov r21,r20 4754 260c C801 movw r24,r16 4755 260e B701 movw r22,r14 4756 2610 0E94 0000 call __mulsi3 4757 2614 DC01 movw r26,r24 4758 2616 CB01 movw r24,r22 4759 2618 8093 0000 sts Mess_IntegralRoll,r24 4760 261c 9093 0000 sts (Mess_IntegralRoll)+1,r25 4761 2620 A093 0000 sts (Mess_IntegralRoll)+2,r26 4762 2624 B093 0000 sts (Mess_IntegralRoll)+3,r27 4763 2628 8091 0000 lds r24,IntegralNick 4764 262c 9091 0000 lds r25,(IntegralNick)+1 4765 2630 A091 0000 lds r26,(IntegralNick)+2 4766 2634 B091 0000 lds r27,(IntegralNick)+3 4767 2638 8093 0000 sts Mess_IntegralNick2,r24 4768 263c 9093 0000 sts (Mess_IntegralNick2)+1,r25 4769 2640 A093 0000 sts (Mess_IntegralNick2)+2,r26 4770 2644 B093 0000 sts (Mess_IntegralNick2)+3,r27 4771 2648 8091 0000 lds r24,IntegralRoll 4772 264c 9091 0000 lds r25,(IntegralRoll)+1 4773 2650 A091 0000 lds r26,(IntegralRoll)+2 4774 2654 B091 0000 lds r27,(IntegralRoll)+3 4775 2658 8093 0000 sts Mess_IntegralRoll2,r24 4776 265c 9093 0000 sts (Mess_IntegralRoll2)+1,r25 4777 2660 A093 0000 sts (Mess_IntegralRoll2)+2,r26 4778 2664 B093 0000 sts (Mess_IntegralRoll2)+3,r27 4779 2668 1092 0000 sts SummeNick,__zero_reg__ 4780 266c 1092 0000 sts (SummeNick)+1,__zero_reg__ 4781 2670 1092 0000 sts (SummeNick)+2,__zero_reg__ 4782 2674 1092 0000 sts (SummeNick)+3,__zero_reg__ 4783 2678 1092 0000 sts SummeRoll,__zero_reg__ 4784 267c 1092 0000 sts (SummeRoll)+1,__zero_reg__ 4785 2680 1092 0000 sts (SummeRoll)+2,__zero_reg__ 4786 2684 1092 0000 sts (SummeRoll)+3,__zero_reg__ 4787 2688 84E6 ldi r24,lo8(100) 4788 268a 8093 0000 sts NeueKompassRichtungMerken,r24 4789 268e 84E3 ldi r24,lo8(52) 4790 2690 00C0 rjmp .L896 4791 .L425: 4792 2692 8CED ldi r24,lo8(1500) 4793 2694 95E0 ldi r25,hi8(1500) 4794 2696 9093 0000 sts (beeptime)+1,r25 4795 269a 8093 0000 sts beeptime,r24 4796 269e 2223 tst r18 4797 26a0 01F0 breq .+2 4798 26a2 00C0 rjmp .L429 4799 26a4 81E0 ldi r24,lo8(1) 4800 26a6 00C0 rjmp .L896 4801 .L419: 4802 26a8 1092 0000 sts delay_einschalten.7,__zero_reg__ 4803 26ac 00C0 rjmp .L429 4804 .L418: 4805 26ae FF27 clr r31 4806 26b0 EE0F add r30,r30 4807 26b2 FF1F adc r31,r31 4808 26b4 E050 subi r30,lo8(-(PPM_in)) 4809 26b6 F040 sbci r31,hi8(-(PPM_in)) 4810 26b8 8081 ld r24,Z 4811 26ba 9181 ldd r25,Z+1 4812 26bc 8C34 cpi r24,76 4813 26be 9105 cpc r25,__zero_reg__ 4814 26c0 04F0 brlt .L432 4815 26c2 8091 0000 lds r24,EE_Parameter+111 4816 26c6 83FD sbrc r24,3 4817 26c8 00C0 rjmp .L433 4818 26ca E22F mov r30,r18 4819 26cc FF27 clr r31 4820 26ce EE0F add r30,r30 4821 26d0 FF1F adc r31,r31 4822 26d2 E050 subi r30,lo8(-(PPM_in)) 4823 26d4 F040 sbci r31,hi8(-(PPM_in)) 4824 26d6 8081 ld r24,Z 4825 26d8 9181 ldd r25,Z+1 4826 26da 855B subi r24,lo8(-75) 4827 26dc 9F4F sbci r25,hi8(-75) 4828 26de 04F0 brlt .L431 4829 .L433: 4830 26e0 8091 0000 lds r24,EE_Parameter+100 4831 26e4 8823 tst r24 4832 26e6 01F0 breq .L431 4833 .L432: 4834 26e8 8091 0000 lds r24,EE_Parameter+111 4835 26ec 83FF sbrs r24,3 4836 26ee 00C0 rjmp .L430 4837 26f0 8091 0000 lds r24,EE_Parameter+100 4838 26f4 E82F mov r30,r24 4839 26f6 FF27 clr r31 4840 26f8 EE0F add r30,r30 4841 26fa FF1F adc r31,r31 4842 26fc E050 subi r30,lo8(-(PPM_in)) 4843 26fe F040 sbci r31,hi8(-(PPM_in)) 4844 2700 8081 ld r24,Z 4845 2702 9181 ldd r25,Z+1 4846 2704 8E5C subi r24,lo8(-50) 4847 2706 9F4F sbci r25,hi8(-50) 4848 2708 04F4 brge .L430 4849 270a 8091 0000 lds r24,move_safety_switch.9 4850 270e 8C39 cpi r24,lo8(-100) 4851 2710 01F4 brne .L430 4852 .L431: 4853 2712 8091 0000 lds r24,delay_ausschalten.8 4854 2716 8F5F subi r24,lo8(-(1)) 4855 2718 8093 0000 sts delay_ausschalten.8,r24 4856 271c 8B3F cpi r24,lo8(-5) 4857 271e 00F0 brlo .L429 4858 2720 1092 0000 sts MotorenEin,__zero_reg__ 4859 2724 1092 0000 sts delay_ausschalten.8,__zero_reg__ 4860 2728 1092 0000 sts (modell_fliegt)+1,__zero_reg__ 4861 272c 1092 0000 sts modell_fliegt,__zero_reg__ 4862 2730 86E2 ldi r24,lo8(38) 4863 .L896: 4864 2732 8093 0000 sts SpeakHoTT,r24 4865 2736 00C0 rjmp .L429 4866 .L430: 4867 2738 1092 0000 sts delay_ausschalten.8,__zero_reg__ 4868 .L429: 4869 273c 8091 0000 lds r24,GasIsZeroCnt 4870 2740 9091 0000 lds r25,(GasIsZeroCnt)+1 4871 2744 13E0 ldi r17,hi8(1000) 4872 2746 883E cpi r24,lo8(1000) 4873 2748 9107 cpc r25,r17 4874 274a 00F4 brsh .L387 4875 274c 0196 adiw r24,1 4876 274e 9093 0000 sts (GasIsZeroCnt)+1,r25 4877 2752 8093 0000 sts GasIsZeroCnt,r24 4878 2756 00C0 rjmp .L387 4879 .L414: 4880 2758 1092 0000 sts move_safety_switch.9,__zero_reg__ 4881 275c 1092 0000 sts (GasIsZeroCnt)+1,__zero_reg__ 4882 2760 1092 0000 sts GasIsZeroCnt,__zero_reg__ 4883 2764 00C0 rjmp .L387 4884 .L388: 4885 2766 2E5E subi r18,lo8(750) 4886 2768 3240 sbci r19,hi8(750) 4887 276a 00F0 brlo .L387 4888 276c 8091 0000 lds r24,GPSInfo+4 4889 2770 9091 0000 lds r25,(GPSInfo+4)+1 4890 2774 8059 subi r24,lo8(400) 4891 2776 9140 sbci r25,hi8(400) 4892 2778 00F4 brsh .L387 4893 277a 8091 0000 lds r24,HoehenWert 4894 277e 9091 0000 lds r25,(HoehenWert)+1 4895 2782 A091 0000 lds r26,(HoehenWert)+2 4896 2786 B091 0000 lds r27,(HoehenWert)+3 4897 278a 8C5D subi r24,lo8(1500) 4898 278c 9540 sbci r25,hi8(1500) 4899 278e A040 sbci r26,hlo8(1500) 4900 2790 B040 sbci r27,hhi8(1500) 4901 2792 04F4 brge .L387 4902 2794 80E3 ldi r24,lo8(30000) 4903 2796 95E7 ldi r25,hi8(30000) 4904 2798 9093 0000 sts (GasIsZeroCnt)+1,r25 4905 279c 8093 0000 sts GasIsZeroCnt,r24 4906 27a0 8091 0000 lds r24,modell_fliegt 4907 27a4 9091 0000 lds r25,(modell_fliegt)+1 4908 27a8 8A5E subi r24,lo8(1002) 4909 27aa 9340 sbci r25,hi8(1002) 4910 27ac 00F0 brlo .L387 4911 27ae 89EE ldi r24,lo8(1001) 4912 27b0 93E0 ldi r25,hi8(1001) 4913 27b2 9093 0000 sts (modell_fliegt)+1,r25 4914 27b6 8093 0000 sts modell_fliegt,r24 4915 .L387: 4916 27ba 8091 0000 lds r24,NewPpmData 4917 27be 8150 subi r24,lo8(-(-1)) 4918 27c0 8093 0000 sts NewPpmData,r24 4919 27c4 8091 0000 lds r24,NewPpmData 4920 27c8 8F3F cpi r24,lo8(-1) 4921 27ca 01F0 breq .L443 4922 27cc 8091 0000 lds r24,FC_StatusFlags 4923 27d0 84FF sbrs r24,4 4924 27d2 00C0 rjmp .L442 4925 .L443: 4926 27d4 0E94 0000 call ParameterZuordnung 4927 27d8 B090 0000 lds r11,EE_Parameter+23 4928 27dc 8091 0000 lds r24,stick_nick.12 4929 27e0 9091 0000 lds r25,(stick_nick.12)+1 4930 27e4 9C01 movw r18,r24 4931 27e6 220F lsl r18 4932 27e8 331F rol r19 4933 27ea 280F add r18,r24 4934 27ec 391F adc r19,r25 4935 27ee C090 0000 lds r12,EE_Parameter+1 4936 27f2 AC2D mov r26,r12 4937 27f4 BB27 clr r27 4938 27f6 AA0F add r26,r26 4939 27f8 BB1F adc r27,r27 4940 27fa FD01 movw r30,r26 4941 27fc E050 subi r30,lo8(-(PPM_in)) 4942 27fe F040 sbci r31,hi8(-(PPM_in)) 4943 2800 4B2D mov r20,r11 4944 2802 5527 clr r21 4945 2804 8081 ld r24,Z 4946 2806 9181 ldd r25,Z+1 4947 2808 849F mul r24,r20 4948 280a F001 movw r30,r0 4949 280c 859F mul r24,r21 4950 280e F00D add r31,r0 4951 2810 949F mul r25,r20 4952 2812 F00D add r31,r0 4953 2814 1124 clr r1 4954 2816 2E0F add r18,r30 4955 2818 3F1F adc r19,r31 4956 281a 37FF sbrs r19,7 4957 281c 00C0 rjmp .L444 4958 281e 2D5F subi r18,lo8(-(3)) 4959 2820 3F4F sbci r19,hi8(-(3)) 4960 .L444: 4961 2822 B901 movw r22,r18 4962 2824 7595 asr r23 4963 2826 6795 ror r22 4964 2828 7595 asr r23 4965 282a 6795 ror r22 4966 282c A050 subi r26,lo8(-(PPM_diff)) 4967 282e B040 sbci r27,hi8(-(PPM_diff)) 4968 2830 8091 0000 lds r24,EE_Parameter+24 4969 2834 082F mov r16,r24 4970 2836 1127 clr r17 4971 2838 8D91 ld r24,X+ 4972 283a 9C91 ld r25,X 4973 283c 809F mul r24,r16 4974 283e 7001 movw r14,r0 4975 2840 819F mul r24,r17 4976 2842 F00C add r15,r0 4977 2844 909F mul r25,r16 4978 2846 F00C add r15,r0 4979 2848 1124 clr r1 4980 284a 6E0D add r22,r14 4981 284c 7F1D adc r23,r15 4982 284e 7093 0000 sts (stick_nick.12)+1,r23 4983 2852 6093 0000 sts stick_nick.12,r22 4984 2856 8091 0000 lds r24,stick_roll.13 4985 285a 9091 0000 lds r25,(stick_roll.13)+1 4986 285e 9C01 movw r18,r24 4987 2860 220F lsl r18 4988 2862 331F rol r19 4989 2864 280F add r18,r24 4990 2866 391F adc r19,r25 4991 2868 D090 0000 lds r13,EE_Parameter+2 4992 286c AD2D mov r26,r13 4993 286e BB27 clr r27 4994 2870 AA0F add r26,r26 4995 2872 BB1F adc r27,r27 4996 2874 FD01 movw r30,r26 4997 2876 E050 subi r30,lo8(-(PPM_in)) 4998 2878 F040 sbci r31,hi8(-(PPM_in)) 4999 287a 8081 ld r24,Z 5000 287c 9181 ldd r25,Z+1 5001 287e 849F mul r24,r20 5002 2880 F001 movw r30,r0 5003 2882 859F mul r24,r21 5004 2884 F00D add r31,r0 5005 2886 949F mul r25,r20 5006 2888 F00D add r31,r0 5007 288a 1124 clr r1 5008 288c 2E0F add r18,r30 5009 288e 3F1F adc r19,r31 5010 2890 37FF sbrs r19,7 5011 2892 00C0 rjmp .L445 5012 2894 2D5F subi r18,lo8(-(3)) 5013 2896 3F4F sbci r19,hi8(-(3)) 5014 .L445: 5015 2898 A901 movw r20,r18 5016 289a 5595 asr r21 5017 289c 4795 ror r20 5018 289e 5595 asr r21 5019 28a0 4795 ror r20 5020 28a2 A050 subi r26,lo8(-(PPM_diff)) 5021 28a4 B040 sbci r27,hi8(-(PPM_diff)) 5022 28a6 8D91 ld r24,X+ 5023 28a8 9C91 ld r25,X 5024 28aa 809F mul r24,r16 5025 28ac 7001 movw r14,r0 5026 28ae 819F mul r24,r17 5027 28b0 F00C add r15,r0 5028 28b2 909F mul r25,r16 5029 28b4 F00C add r15,r0 5030 28b6 1124 clr r1 5031 28b8 4E0D add r20,r14 5032 28ba 5F1D adc r21,r15 5033 28bc 5093 0000 sts (stick_roll.13)+1,r21 5034 28c0 4093 0000 sts stick_roll.13,r20 5035 28c4 8091 0000 lds r24,CareFree 5036 28c8 8823 tst r24 5037 28ca 01F4 brne .+2 5038 28cc 00C0 rjmp .L446 5039 28ce CB01 movw r24,r22 5040 28d0 77FD sbrc r23,7 5041 28d2 0396 adiw r24,3 5042 .L447: 5043 28d4 DC01 movw r26,r24 5044 28d6 B595 asr r27 5045 28d8 A795 ror r26 5046 28da B595 asr r27 5047 28dc A795 ror r26 5048 28de CA01 movw r24,r20 5049 28e0 57FD sbrc r21,7 5050 28e2 0396 adiw r24,3 5051 .L448: 5052 28e4 FC01 movw r30,r24 5053 28e6 F595 asr r31 5054 28e8 E795 ror r30 5055 28ea F595 asr r31 5056 28ec E795 ror r30 5057 28ee 8091 0000 lds r24,FromNC_Rotate_C 5058 28f2 682F mov r22,r24 5059 28f4 7727 clr r23 5060 28f6 67FD sbrc r22,7 5061 28f8 7095 com r23 5062 28fa 6A9F mul r22,r26 5063 28fc 9001 movw r18,r0 5064 28fe 6B9F mul r22,r27 5065 2900 300D add r19,r0 5066 2902 7A9F mul r23,r26 5067 2904 300D add r19,r0 5068 2906 1124 clr r1 5069 2908 8091 0000 lds r24,FromNC_Rotate_S 5070 290c 482F mov r20,r24 5071 290e 5527 clr r21 5072 2910 47FD sbrc r20,7 5073 2912 5095 com r21 5074 2914 4E9F mul r20,r30 5075 2916 C001 movw r24,r0 5076 2918 4F9F mul r20,r31 5077 291a 900D add r25,r0 5078 291c 5E9F mul r21,r30 5079 291e 900D add r25,r0 5080 2920 1124 clr r1 5081 2922 280F add r18,r24 5082 2924 391F adc r19,r25 5083 2926 37FF sbrs r19,7 5084 2928 00C0 rjmp .L449 5085 292a 295F subi r18,lo8(-(7)) 5086 292c 3F4F sbci r19,hi8(-(7)) 5087 .L449: 5088 292e 93E0 ldi r25,3 5089 2930 3595 1: asr r19 5090 2932 2795 ror r18 5091 2934 9A95 dec r25 5092 2936 01F4 brne 1b 5093 2938 3093 0000 sts (StickNick)+1,r19 5094 293c 2093 0000 sts StickNick,r18 5095 2940 6E9F mul r22,r30 5096 2942 9001 movw r18,r0 5097 2944 6F9F mul r22,r31 5098 2946 300D add r19,r0 5099 2948 7E9F mul r23,r30 5100 294a 300D add r19,r0 5101 294c 1124 clr r1 5102 294e 4A9F mul r20,r26 5103 2950 C001 movw r24,r0 5104 2952 4B9F mul r20,r27 5105 2954 900D add r25,r0 5106 2956 5A9F mul r21,r26 5107 2958 900D add r25,r0 5108 295a 1124 clr r1 5109 295c 00C0 rjmp .L925 5110 .L446: 5111 295e 8091 0000 lds r24,EE_Parameter+98 5112 2962 E82F mov r30,r24 5113 2964 FF27 clr r31 5114 2966 E050 subi r30,lo8(-(sintab)) 5115 2968 F040 sbci r31,hi8(-(sintab)) 5116 296a 8681 ldd r24,Z+6 5117 296c 8093 0000 sts FromNC_Rotate_C,r24 5118 2970 9081 ld r25,Z 5119 2972 9093 0000 sts FromNC_Rotate_S,r25 5120 2976 A82F mov r26,r24 5121 2978 BB27 clr r27 5122 297a A7FD sbrc r26,7 5123 297c B095 com r27 5124 297e A69F mul r26,r22 5125 2980 9001 movw r18,r0 5126 2982 A79F mul r26,r23 5127 2984 300D add r19,r0 5128 2986 B69F mul r27,r22 5129 2988 300D add r19,r0 5130 298a 1124 clr r1 5131 298c E92F mov r30,r25 5132 298e FF27 clr r31 5133 2990 E7FD sbrc r30,7 5134 2992 F095 com r31 5135 2994 E49F mul r30,r20 5136 2996 C001 movw r24,r0 5137 2998 E59F mul r30,r21 5138 299a 900D add r25,r0 5139 299c F49F mul r31,r20 5140 299e 900D add r25,r0 5141 29a0 1124 clr r1 5142 29a2 280F add r18,r24 5143 29a4 391F adc r19,r25 5144 29a6 37FF sbrs r19,7 5145 29a8 00C0 rjmp .L452 5146 29aa 295F subi r18,lo8(-(7)) 5147 29ac 3F4F sbci r19,hi8(-(7)) 5148 .L452: 5149 29ae 83E0 ldi r24,3 5150 29b0 3595 1: asr r19 5151 29b2 2795 ror r18 5152 29b4 8A95 dec r24 5153 29b6 01F4 brne 1b 5154 29b8 3093 0000 sts (StickNick)+1,r19 5155 29bc 2093 0000 sts StickNick,r18 5156 29c0 A49F mul r26,r20 5157 29c2 9001 movw r18,r0 5158 29c4 A59F mul r26,r21 5159 29c6 300D add r19,r0 5160 29c8 B49F mul r27,r20 5161 29ca 300D add r19,r0 5162 29cc 1124 clr r1 5163 29ce E69F mul r30,r22 5164 29d0 C001 movw r24,r0 5165 29d2 E79F mul r30,r23 5166 29d4 900D add r25,r0 5167 29d6 F69F mul r31,r22 5168 29d8 900D add r25,r0 5169 29da 1124 clr r1 5170 .L925: 5171 29dc 281B sub r18,r24 5172 29de 390B sbc r19,r25 5173 29e0 37FF sbrs r19,7 5174 29e2 00C0 rjmp .L453 5175 29e4 295F subi r18,lo8(-(7)) 5176 29e6 3F4F sbci r19,hi8(-(7)) 5177 .L453: 5178 29e8 03E0 ldi r16,3 5179 29ea 3595 1: asr r19 5180 29ec 2795 ror r18 5181 29ee 0A95 dec r16 5182 29f0 01F4 brne 1b 5183 29f2 3093 0000 sts (StickRoll)+1,r19 5184 29f6 2093 0000 sts StickRoll,r18 5185 29fa 8091 0000 lds r24,EE_Parameter+4 5186 29fe E82F mov r30,r24 5187 2a00 FF27 clr r31 5188 2a02 EE0F add r30,r30 5189 2a04 FF1F adc r31,r31 5190 2a06 E050 subi r30,lo8(-(PPM_in)) 5191 2a08 F040 sbci r31,hi8(-(PPM_in)) 5192 2a0a 8081 ld r24,Z 5193 2a0c 9181 ldd r25,Z+1 5194 2a0e 9095 com r25 5195 2a10 8195 neg r24 5196 2a12 9F4F sbci r25,lo8(-1) 5197 2a14 9093 0000 sts (StickGier)+1,r25 5198 2a18 8093 0000 sts StickGier,r24 5199 2a1c 8530 cpi r24,5 5200 2a1e 9105 cpc r25,__zero_reg__ 5201 2a20 04F0 brlt .L454 5202 2a22 0497 sbiw r24,4 5203 2a24 00C0 rjmp .L897 5204 .L454: 5205 2a26 0FEF ldi r16,hi8(-4) 5206 2a28 8C3F cpi r24,lo8(-4) 5207 2a2a 9007 cpc r25,r16 5208 2a2c 04F4 brge .L456 5209 2a2e 0496 adiw r24,4 5210 .L897: 5211 2a30 9093 0000 sts (StickGier)+1,r25 5212 2a34 8093 0000 sts StickGier,r24 5213 2a38 00C0 rjmp .L455 5214 .L456: 5215 2a3a 1092 0000 sts (StickGier)+1,__zero_reg__ 5216 2a3e 1092 0000 sts StickGier,__zero_reg__ 5217 .L455: 5218 2a42 8091 0000 lds r24,GPS_Aid_StickMultiplikator 5219 2a46 8823 tst r24 5220 2a48 01F4 brne .+2 5221 2a4a 00C0 rjmp .L458 5222 2a4c 282F mov r18,r24 5223 2a4e 3327 clr r19 5224 2a50 8091 0000 lds r24,StickNick 5225 2a54 9091 0000 lds r25,(StickNick)+1 5226 2a58 97FD sbrc r25,7 5227 2a5a 0796 adiw r24,7 5228 .L459: 5229 2a5c 13E0 ldi r17,3 5230 2a5e 9595 1: asr r25 5231 2a60 8795 ror r24 5232 2a62 1A95 dec r17 5233 2a64 01F4 brne 1b 5234 2a66 289F mul r18,r24 5235 2a68 A001 movw r20,r0 5236 2a6a 299F mul r18,r25 5237 2a6c 500D add r21,r0 5238 2a6e 389F mul r19,r24 5239 2a70 500D add r21,r0 5240 2a72 1124 clr r1 5241 2a74 CA01 movw r24,r20 5242 2a76 57FD sbrc r21,7 5243 2a78 0F96 adiw r24,15 5244 .L460: 5245 2a7a B4E0 ldi r27,4 5246 2a7c 9595 1: asr r25 5247 2a7e 8795 ror r24 5248 2a80 BA95 dec r27 5249 2a82 01F4 brne 1b 5250 2a84 9093 0000 sts (StickNick)+1,r25 5251 2a88 8093 0000 sts StickNick,r24 5252 2a8c 8091 0000 lds r24,StickRoll 5253 2a90 9091 0000 lds r25,(StickRoll)+1 5254 2a94 97FD sbrc r25,7 5255 2a96 0796 adiw r24,7 5256 .L461: 5257 2a98 A3E0 ldi r26,3 5258 2a9a 9595 1: asr r25 5259 2a9c 8795 ror r24 5260 2a9e AA95 dec r26 5261 2aa0 01F4 brne 1b 5262 2aa2 289F mul r18,r24 5263 2aa4 B001 movw r22,r0 5264 2aa6 299F mul r18,r25 5265 2aa8 700D add r23,r0 5266 2aaa 389F mul r19,r24 5267 2aac 700D add r23,r0 5268 2aae 1124 clr r1 5269 2ab0 CB01 movw r24,r22 5270 2ab2 77FD sbrc r23,7 5271 2ab4 0F96 adiw r24,15 5272 .L462: 5273 2ab6 F4E0 ldi r31,4 5274 2ab8 9595 1: asr r25 5275 2aba 8795 ror r24 5276 2abc FA95 dec r31 5277 2abe 01F4 brne 1b 5278 2ac0 9093 0000 sts (StickRoll)+1,r25 5279 2ac4 8093 0000 sts StickRoll,r24 5280 .L458: 5281 2ac8 8090 0000 lds r8,StickNick 5282 2acc 9090 0000 lds r9,(StickNick)+1 5283 2ad0 8091 0000 lds r24,GPS_Nick 5284 2ad4 9091 0000 lds r25,(GPS_Nick)+1 5285 2ad8 881A sub r8,r24 5286 2ada 990A sbc r9,r25 5287 2adc 9092 0000 sts (StickNick)+1,r9 5288 2ae0 8092 0000 sts StickNick,r8 5289 2ae4 0091 0000 lds r16,StickRoll 5290 2ae8 1091 0000 lds r17,(StickRoll)+1 5291 2aec 8091 0000 lds r24,GPS_Roll 5292 2af0 9091 0000 lds r25,(GPS_Roll)+1 5293 2af4 081B sub r16,r24 5294 2af6 190B sbc r17,r25 5295 2af8 1093 0000 sts (StickRoll)+1,r17 5296 2afc 0093 0000 sts StickRoll,r16 5297 2b00 8091 0000 lds r24,EE_Parameter+3 5298 2b04 E82F mov r30,r24 5299 2b06 FF27 clr r31 5300 2b08 EE0F add r30,r30 5301 2b0a FF1F adc r31,r31 5302 2b0c E050 subi r30,lo8(-(PPM_in)) 5303 2b0e F040 sbci r31,hi8(-(PPM_in)) 5304 2b10 E080 ld r14,Z 5305 2b12 F180 ldd r15,Z+1 5306 2b14 8FE7 ldi r24,lo8(127) 5307 2b16 90E0 ldi r25,hi8(127) 5308 2b18 E80E add r14,r24 5309 2b1a F91E adc r15,r25 5310 2b1c F092 0000 sts (StickGas)+1,r15 5311 2b20 E092 0000 sts StickGas,r14 5312 2b24 8091 0000 lds r24,Parameter_Gyro_P 5313 2b28 9927 clr r25 5314 2b2a AA27 clr r26 5315 2b2c 97FD sbrc r25,7 5316 2b2e A095 com r26 5317 2b30 BA2F mov r27,r26 5318 2b32 BC01 movw r22,r24 5319 2b34 CD01 movw r24,r26 5320 2b36 0E94 0000 call __floatsisf 5321 2b3a DC01 movw r26,r24 5322 2b3c CB01 movw r24,r22 5323 2b3e 20E0 ldi r18,lo8(0x41200000) 5324 2b40 30E0 ldi r19,hi8(0x41200000) 5325 2b42 40E2 ldi r20,hlo8(0x41200000) 5326 2b44 51E4 ldi r21,hhi8(0x41200000) 5327 2b46 BC01 movw r22,r24 5328 2b48 CD01 movw r24,r26 5329 2b4a 0E94 0000 call __addsf3 5330 2b4e DC01 movw r26,r24 5331 2b50 CB01 movw r24,r22 5332 2b52 BC01 movw r22,r24 5333 2b54 CD01 movw r24,r26 5334 2b56 0E94 0000 call __fixunssfsi 5335 2b5a DC01 movw r26,r24 5336 2b5c CB01 movw r24,r22 5337 2b5e 8093 0000 sts GyroFaktor,r24 5338 2b62 8091 0000 lds r24,Parameter_Gyro_I 5339 2b66 8093 0000 sts IntegralFaktor,r24 5340 2b6a 8091 0000 lds r24,Parameter_Gyro_Gier_P 5341 2b6e 9927 clr r25 5342 2b70 AA27 clr r26 5343 2b72 97FD sbrc r25,7 5344 2b74 A095 com r26 5345 2b76 BA2F mov r27,r26 5346 2b78 BC01 movw r22,r24 5347 2b7a CD01 movw r24,r26 5348 2b7c 0E94 0000 call __floatsisf 5349 2b80 DC01 movw r26,r24 5350 2b82 CB01 movw r24,r22 5351 2b84 20E0 ldi r18,lo8(0x41200000) 5352 2b86 30E0 ldi r19,hi8(0x41200000) 5353 2b88 40E2 ldi r20,hlo8(0x41200000) 5354 2b8a 51E4 ldi r21,hhi8(0x41200000) 5355 2b8c BC01 movw r22,r24 5356 2b8e CD01 movw r24,r26 5357 2b90 0E94 0000 call __addsf3 5358 2b94 DC01 movw r26,r24 5359 2b96 CB01 movw r24,r22 5360 2b98 BC01 movw r22,r24 5361 2b9a CD01 movw r24,r26 5362 2b9c 0E94 0000 call __fixunssfsi 5363 2ba0 DC01 movw r26,r24 5364 2ba2 CB01 movw r24,r22 5365 2ba4 8093 0000 sts GyroFaktorGier,r24 5366 2ba8 8091 0000 lds r24,Parameter_Gyro_Gier_I 5367 2bac 8093 0000 sts IntegralFaktorGier,r24 5368 2bb0 8091 0000 lds r24,ExternControl+10 5369 2bb4 80FF sbrs r24,0 5370 2bb6 00C0 rjmp .L463 5371 2bb8 8091 0000 lds r24,Parameter_ExternalControl 5372 2bbc 8138 cpi r24,lo8(-127) 5373 2bbe 00F4 brsh .+2 5374 2bc0 00C0 rjmp .L463 5375 2bc2 8091 0000 lds r24,ExternControl+3 5376 2bc6 9927 clr r25 5377 2bc8 87FD sbrc r24,7 5378 2bca 9095 com r25 5379 2bcc 2B2D mov r18,r11 5380 2bce 3327 clr r19 5381 2bd0 829F mul r24,r18 5382 2bd2 D001 movw r26,r0 5383 2bd4 839F mul r24,r19 5384 2bd6 B00D add r27,r0 5385 2bd8 929F mul r25,r18 5386 2bda B00D add r27,r0 5387 2bdc 1124 clr r1 5388 2bde 8A0E add r8,r26 5389 2be0 9B1E adc r9,r27 5390 2be2 9092 0000 sts (StickNick)+1,r9 5391 2be6 8092 0000 sts StickNick,r8 5392 2bea 8091 0000 lds r24,ExternControl+4 5393 2bee 9927 clr r25 5394 2bf0 87FD sbrc r24,7 5395 2bf2 9095 com r25 5396 2bf4 829F mul r24,r18 5397 2bf6 F001 movw r30,r0 5398 2bf8 839F mul r24,r19 5399 2bfa F00D add r31,r0 5400 2bfc 929F mul r25,r18 5401 2bfe F00D add r31,r0 5402 2c00 1124 clr r1 5403 2c02 0E0F add r16,r30 5404 2c04 1F1F adc r17,r31 5405 2c06 1093 0000 sts (StickRoll)+1,r17 5406 2c0a 0093 0000 sts StickRoll,r16 5407 2c0e 8091 0000 lds r24,ExternControl+5 5408 2c12 282F mov r18,r24 5409 2c14 3327 clr r19 5410 2c16 27FD sbrc r18,7 5411 2c18 3095 com r19 5412 2c1a 8091 0000 lds r24,StickGier 5413 2c1e 9091 0000 lds r25,(StickGier)+1 5414 2c22 820F add r24,r18 5415 2c24 931F adc r25,r19 5416 2c26 9093 0000 sts (StickGier)+1,r25 5417 2c2a 8093 0000 sts StickGier,r24 5418 2c2e 8091 0000 lds r24,ExternControl+7 5419 2c32 282F mov r18,r24 5420 2c34 3327 clr r19 5421 2c36 27FD sbrc r18,7 5422 2c38 3095 com r19 5423 2c3a 8091 0000 lds r24,EE_Parameter+18 5424 2c3e 9927 clr r25 5425 2c40 289F mul r18,r24 5426 2c42 8001 movw r16,r0 5427 2c44 299F mul r18,r25 5428 2c46 100D add r17,r0 5429 2c48 389F mul r19,r24 5430 2c4a 100D add r17,r0 5431 2c4c 1124 clr r1 5432 2c4e 1093 0000 sts (ExternHoehenValue)+1,r17 5433 2c52 0093 0000 sts ExternHoehenValue,r16 5434 2c56 8091 0000 lds r24,ExternControl+6 5435 2c5a 9927 clr r25 5436 2c5c 8E15 cp r24,r14 5437 2c5e 9F05 cpc r25,r15 5438 2c60 04F4 brge .L463 5439 2c62 9093 0000 sts (StickGas)+1,r25 5440 2c66 8093 0000 sts StickGas,r24 5441 .L463: 5442 2c6a 8091 0000 lds r24,StickGas 5443 2c6e 9091 0000 lds r25,(StickGas)+1 5444 2c72 97FF sbrs r25,7 5445 2c74 00C0 rjmp .L465 5446 2c76 1092 0000 sts (StickGas)+1,__zero_reg__ 5447 2c7a 1092 0000 sts StickGas,__zero_reg__ 5448 .L465: 5449 2c7e 8091 0000 lds r24,Parameter_GlobalConfig 5450 2c82 82FF sbrs r24,2 5451 2c84 00C0 rjmp .L466 5452 2c86 1092 0000 sts IntegralFaktor,__zero_reg__ 5453 .L466: 5454 2c8a 4091 0000 lds r20,StickNick 5455 2c8e 5091 0000 lds r21,(StickNick)+1 5456 2c92 CA01 movw r24,r20 5457 2c94 57FD sbrc r21,7 5458 2c96 0396 adiw r24,3 5459 .L468: 5460 2c98 9C01 movw r18,r24 5461 2c9a 3595 asr r19 5462 2c9c 2795 ror r18 5463 2c9e 3595 asr r19 5464 2ca0 2795 ror r18 5465 2ca2 37FF sbrs r19,7 5466 2ca4 00C0 rjmp .L469 5467 2ca6 3095 com r19 5468 2ca8 2195 neg r18 5469 2caa 3F4F sbci r19,lo8(-1) 5470 .L469: 5471 2cac 8091 0000 lds r24,MaxStickNick 5472 2cb0 9091 0000 lds r25,(MaxStickNick)+1 5473 2cb4 8217 cp r24,r18 5474 2cb6 9307 cpc r25,r19 5475 2cb8 04F4 brge .L467 5476 2cba CA01 movw r24,r20 5477 2cbc 57FF sbrs r21,7 5478 2cbe 00C0 rjmp .L470 5479 2cc0 9095 com r25 5480 2cc2 8195 neg r24 5481 2cc4 9F4F sbci r25,lo8(-1) 5482 .L470: 5483 2cc6 97FD sbrc r25,7 5484 2cc8 0396 adiw r24,3 5485 .L471: 5486 2cca 9595 asr r25 5487 2ccc 8795 ror r24 5488 2cce 9595 asr r25 5489 2cd0 8795 ror r24 5490 2cd2 9093 0000 sts (MaxStickNick)+1,r25 5491 2cd6 8093 0000 sts MaxStickNick,r24 5492 2cda 8536 cpi r24,101 5493 2cdc 9105 cpc r25,__zero_reg__ 5494 2cde 04F0 brlt .L473 5495 2ce0 84E6 ldi r24,lo8(100) 5496 2ce2 90E0 ldi r25,hi8(100) 5497 2ce4 00C0 rjmp .L898 5498 .L467: 5499 2ce6 0197 sbiw r24,1 5500 .L898: 5501 2ce8 9093 0000 sts (MaxStickNick)+1,r25 5502 2cec 8093 0000 sts MaxStickNick,r24 5503 .L473: 5504 2cf0 4091 0000 lds r20,StickRoll 5505 2cf4 5091 0000 lds r21,(StickRoll)+1 5506 2cf8 CA01 movw r24,r20 5507 2cfa 57FD sbrc r21,7 5508 2cfc 0396 adiw r24,3 5509 .L475: 5510 2cfe 9C01 movw r18,r24 5511 2d00 3595 asr r19 5512 2d02 2795 ror r18 5513 2d04 3595 asr r19 5514 2d06 2795 ror r18 5515 2d08 37FF sbrs r19,7 5516 2d0a 00C0 rjmp .L476 5517 2d0c 3095 com r19 5518 2d0e 2195 neg r18 5519 2d10 3F4F sbci r19,lo8(-1) 5520 .L476: 5521 2d12 8091 0000 lds r24,MaxStickRoll 5522 2d16 9091 0000 lds r25,(MaxStickRoll)+1 5523 2d1a 8217 cp r24,r18 5524 2d1c 9307 cpc r25,r19 5525 2d1e 04F4 brge .L474 5526 2d20 CA01 movw r24,r20 5527 2d22 57FF sbrs r21,7 5528 2d24 00C0 rjmp .L477 5529 2d26 9095 com r25 5530 2d28 8195 neg r24 5531 2d2a 9F4F sbci r25,lo8(-1) 5532 .L477: 5533 2d2c 97FD sbrc r25,7 5534 2d2e 0396 adiw r24,3 5535 .L478: 5536 2d30 9595 asr r25 5537 2d32 8795 ror r24 5538 2d34 9595 asr r25 5539 2d36 8795 ror r24 5540 2d38 9093 0000 sts (MaxStickRoll)+1,r25 5541 2d3c 8093 0000 sts MaxStickRoll,r24 5542 2d40 8536 cpi r24,101 5543 2d42 9105 cpc r25,__zero_reg__ 5544 2d44 04F0 brlt .L480 5545 2d46 84E6 ldi r24,lo8(100) 5546 2d48 90E0 ldi r25,hi8(100) 5547 2d4a 00C0 rjmp .L899 5548 .L474: 5549 2d4c 0197 sbiw r24,1 5550 .L899: 5551 2d4e 9093 0000 sts (MaxStickRoll)+1,r25 5552 2d52 8093 0000 sts MaxStickRoll,r24 5553 .L480: 5554 2d56 8091 0000 lds r24,FC_StatusFlags 5555 2d5a 84FF sbrs r24,4 5556 2d5c 00C0 rjmp .L481 5557 2d5e 1092 0000 sts (MaxStickNick)+1,__zero_reg__ 5558 2d62 1092 0000 sts MaxStickNick,__zero_reg__ 5559 2d66 1092 0000 sts (MaxStickRoll)+1,__zero_reg__ 5560 2d6a 1092 0000 sts MaxStickRoll,__zero_reg__ 5561 .L481: 5562 2d6e ED2D mov r30,r13 5563 2d70 FF27 clr r31 5564 2d72 EE0F add r30,r30 5565 2d74 FF1F adc r31,r31 5566 2d76 E050 subi r30,lo8(-(PPM_in)) 5567 2d78 F040 sbci r31,hi8(-(PPM_in)) 5568 2d7a 4091 0000 lds r20,EE_Parameter+60 5569 2d7e 242F mov r18,r20 5570 2d80 3327 clr r19 5571 2d82 8081 ld r24,Z 5572 2d84 9181 ldd r25,Z+1 5573 2d86 2817 cp r18,r24 5574 2d88 3907 cpc r19,r25 5575 2d8a 04F4 brge .L482 5576 2d8c 8091 0000 lds r24,EE_Parameter+108 5577 2d90 82FF sbrs r24,2 5578 2d92 00C0 rjmp .L482 5579 2d94 81E0 ldi r24,lo8(1) 5580 2d96 8093 0000 sts Looping_Links,r24 5581 2d9a 00C0 rjmp .L483 5582 .L482: 5583 2d9c ED2D mov r30,r13 5584 2d9e FF27 clr r31 5585 2da0 EE0F add r30,r30 5586 2da2 FF1F adc r31,r31 5587 2da4 E050 subi r30,lo8(-(PPM_in)) 5588 2da6 F040 sbci r31,hi8(-(PPM_in)) 5589 2da8 842F mov r24,r20 5590 2daa 9927 clr r25 5591 2dac 2091 0000 lds r18,EE_Parameter+61 5592 2db0 821B sub r24,r18 5593 2db2 9109 sbc r25,__zero_reg__ 5594 2db4 2081 ld r18,Z 5595 2db6 3181 ldd r19,Z+1 5596 2db8 2817 cp r18,r24 5597 2dba 3907 cpc r19,r25 5598 2dbc 04F4 brge .L483 5599 2dbe 1092 0000 sts Looping_Links,__zero_reg__ 5600 .L483: 5601 2dc2 4091 0000 lds r20,EE_Parameter+2 5602 2dc6 E42F mov r30,r20 5603 2dc8 FF27 clr r31 5604 2dca EE0F add r30,r30 5605 2dcc FF1F adc r31,r31 5606 2dce E050 subi r30,lo8(-(PPM_in)) 5607 2dd0 F040 sbci r31,hi8(-(PPM_in)) 5608 2dd2 5091 0000 lds r21,EE_Parameter+60 5609 2dd6 852F mov r24,r21 5610 2dd8 9927 clr r25 5611 2dda 2227 clr r18 5612 2ddc 3327 clr r19 5613 2dde 281B sub r18,r24 5614 2de0 390B sbc r19,r25 5615 2de2 8081 ld r24,Z 5616 2de4 9181 ldd r25,Z+1 5617 2de6 8217 cp r24,r18 5618 2de8 9307 cpc r25,r19 5619 2dea 04F4 brge .L485 5620 2dec 8091 0000 lds r24,EE_Parameter+108 5621 2df0 83FF sbrs r24,3 5622 2df2 00C0 rjmp .L485 5623 2df4 81E0 ldi r24,lo8(1) 5624 2df6 8093 0000 sts Looping_Rechts,r24 5625 2dfa 00C0 rjmp .L486 5626 .L485: 5627 2dfc 8091 0000 lds r24,Looping_Rechts 5628 2e00 8823 tst r24 5629 2e02 01F0 breq .L486 5630 2e04 E42F mov r30,r20 5631 2e06 FF27 clr r31 5632 2e08 EE0F add r30,r30 5633 2e0a FF1F adc r31,r31 5634 2e0c E050 subi r30,lo8(-(PPM_in)) 5635 2e0e F040 sbci r31,hi8(-(PPM_in)) 5636 2e10 8091 0000 lds r24,EE_Parameter+61 5637 2e14 9927 clr r25 5638 2e16 851B sub r24,r21 5639 2e18 9109 sbc r25,__zero_reg__ 5640 2e1a 2081 ld r18,Z 5641 2e1c 3181 ldd r19,Z+1 5642 2e1e 8217 cp r24,r18 5643 2e20 9307 cpc r25,r19 5644 2e22 04F4 brge .L486 5645 2e24 1092 0000 sts Looping_Rechts,__zero_reg__ 5646 .L486: 5647 2e28 EC2D mov r30,r12 5648 2e2a FF27 clr r31 5649 2e2c EE0F add r30,r30 5650 2e2e FF1F adc r31,r31 5651 2e30 E050 subi r30,lo8(-(PPM_in)) 5652 2e32 F040 sbci r31,hi8(-(PPM_in)) 5653 2e34 4091 0000 lds r20,EE_Parameter+60 5654 2e38 242F mov r18,r20 5655 2e3a 3327 clr r19 5656 2e3c 8081 ld r24,Z 5657 2e3e 9181 ldd r25,Z+1 5658 2e40 2817 cp r18,r24 5659 2e42 3907 cpc r19,r25 5660 2e44 04F4 brge .L489 5661 2e46 8091 0000 lds r24,EE_Parameter+108 5662 2e4a 80FF sbrs r24,0 5663 2e4c 00C0 rjmp .L489 5664 2e4e 81E0 ldi r24,lo8(1) 5665 2e50 8093 0000 sts Looping_Oben,r24 5666 2e54 00C0 rjmp .L490 5667 .L489: 5668 2e56 8091 0000 lds r24,Looping_Oben 5669 2e5a 8823 tst r24 5670 2e5c 01F0 breq .L490 5671 2e5e EC2D mov r30,r12 5672 2e60 FF27 clr r31 5673 2e62 EE0F add r30,r30 5674 2e64 FF1F adc r31,r31 5675 2e66 E050 subi r30,lo8(-(PPM_in)) 5676 2e68 F040 sbci r31,hi8(-(PPM_in)) 5677 2e6a 842F mov r24,r20 5678 2e6c 9927 clr r25 5679 2e6e 2091 0000 lds r18,EE_Parameter+61 5680 2e72 821B sub r24,r18 5681 2e74 9109 sbc r25,__zero_reg__ 5682 2e76 2081 ld r18,Z 5683 2e78 3181 ldd r19,Z+1 5684 2e7a 2817 cp r18,r24 5685 2e7c 3907 cpc r19,r25 5686 2e7e 04F4 brge .L490 5687 2e80 1092 0000 sts Looping_Oben,__zero_reg__ 5688 .L490: 5689 2e84 4091 0000 lds r20,EE_Parameter+1 5690 2e88 E42F mov r30,r20 5691 2e8a FF27 clr r31 5692 2e8c EE0F add r30,r30 5693 2e8e FF1F adc r31,r31 5694 2e90 E050 subi r30,lo8(-(PPM_in)) 5695 2e92 F040 sbci r31,hi8(-(PPM_in)) 5696 2e94 5091 0000 lds r21,EE_Parameter+60 5697 2e98 852F mov r24,r21 5698 2e9a 9927 clr r25 5699 2e9c 2227 clr r18 5700 2e9e 3327 clr r19 5701 2ea0 281B sub r18,r24 5702 2ea2 390B sbc r19,r25 5703 2ea4 8081 ld r24,Z 5704 2ea6 9181 ldd r25,Z+1 5705 2ea8 8217 cp r24,r18 5706 2eaa 9307 cpc r25,r19 5707 2eac 04F4 brge .L493 5708 2eae 8091 0000 lds r24,EE_Parameter+108 5709 2eb2 81FF sbrs r24,1 5710 2eb4 00C0 rjmp .L493 5711 2eb6 81E0 ldi r24,lo8(1) 5712 2eb8 8093 0000 sts Looping_Unten,r24 5713 2ebc 00C0 rjmp .L494 5714 .L493: 5715 2ebe 8091 0000 lds r24,Looping_Unten 5716 2ec2 8823 tst r24 5717 2ec4 01F0 breq .L494 5718 2ec6 E42F mov r30,r20 5719 2ec8 FF27 clr r31 5720 2eca EE0F add r30,r30 5721 2ecc FF1F adc r31,r31 5722 2ece E050 subi r30,lo8(-(PPM_in)) 5723 2ed0 F040 sbci r31,hi8(-(PPM_in)) 5724 2ed2 8091 0000 lds r24,EE_Parameter+61 5725 2ed6 9927 clr r25 5726 2ed8 851B sub r24,r21 5727 2eda 9109 sbc r25,__zero_reg__ 5728 2edc 2081 ld r18,Z 5729 2ede 3181 ldd r19,Z+1 5730 2ee0 8217 cp r24,r18 5731 2ee2 9307 cpc r25,r19 5732 2ee4 04F4 brge .L494 5733 2ee6 1092 0000 sts Looping_Unten,__zero_reg__ 5734 .L494: 5735 2eea 8091 0000 lds r24,Looping_Links 5736 2eee 8823 tst r24 5737 2ef0 01F4 brne .L498 5738 2ef2 8091 0000 lds r24,Looping_Rechts 5739 2ef6 8111 cpse r24,__zero_reg__ 5740 .L498: 5741 2ef8 81E0 ldi r24,lo8(1) 5742 .L497: 5743 2efa 8093 0000 sts Looping_Roll,r24 5744 2efe 8091 0000 lds r24,Looping_Oben 5745 2f02 8823 tst r24 5746 2f04 01F4 brne .L501 5747 2f06 8091 0000 lds r24,Looping_Unten 5748 2f0a 8823 tst r24 5749 2f0c 01F0 breq .L500 5750 .L501: 5751 2f0e 81E0 ldi r24,lo8(1) 5752 2f10 8093 0000 sts Looping_Nick,r24 5753 2f14 1092 0000 sts Looping_Roll,__zero_reg__ 5754 2f18 1092 0000 sts Looping_Links,__zero_reg__ 5755 2f1c 1092 0000 sts Looping_Rechts,__zero_reg__ 5756 2f20 00C0 rjmp .L442 5757 .L500: 5758 2f22 8093 0000 sts Looping_Nick,r24 5759 .L442: 5760 2f26 8091 0000 lds r24,Looping_Roll 5761 2f2a 8823 tst r24 5762 2f2c 01F4 brne .L504 5763 2f2e 8091 0000 lds r24,Looping_Nick 5764 2f32 8823 tst r24 5765 2f34 01F0 breq .L503 5766 .L504: 5767 2f36 8091 0000 lds r24,EE_Parameter+59 5768 2f3a 9927 clr r25 5769 2f3c 2981 ldd r18,Y+1 5770 2f3e 3A81 ldd r19,Y+2 5771 2f40 8217 cp r24,r18 5772 2f42 9307 cpc r25,r19 5773 2f44 04F4 brge .L505 5774 2f46 9A83 std Y+2,r25 5775 2f48 8983 std Y+1,r24 5776 .L505: 5777 2f4a 81E0 ldi r24,lo8(1) 5778 2f4c 8093 0000 sts TrichterFlug,r24 5779 .L503: 5780 2f50 8091 0000 lds r24,FC_StatusFlags2 5781 2f54 9927 clr r25 5782 2f56 9C01 movw r18,r24 5783 2f58 2470 andi r18,lo8(4) 5784 2f5a 3070 andi r19,hi8(4) 5785 2f5c 82FF sbrs r24,2 5786 2f5e 00C0 rjmp .L506 5787 2f60 8091 0000 lds r24,GPS_Nick 5788 2f64 9091 0000 lds r25,(GPS_Nick)+1 5789 2f68 9095 com r25 5790 2f6a 8195 neg r24 5791 2f6c 9F4F sbci r25,lo8(-1) 5792 2f6e 9093 0000 sts (StickNick)+1,r25 5793 2f72 8093 0000 sts StickNick,r24 5794 2f76 8091 0000 lds r24,GPS_Roll 5795 2f7a 9091 0000 lds r25,(GPS_Roll)+1 5796 2f7e 9095 com r25 5797 2f80 8195 neg r24 5798 2f82 9F4F sbci r25,lo8(-1) 5799 2f84 9093 0000 sts (StickRoll)+1,r25 5800 2f88 8093 0000 sts StickRoll,r24 5801 2f8c 8091 0000 lds r24,StickGasHover 5802 2f90 9091 0000 lds r25,(StickGasHover)+1 5803 2f94 9093 0000 sts (StickGas)+1,r25 5804 2f98 8093 0000 sts StickGas,r24 5805 2f9c 8091 0000 lds r24,Parameter_GlobalConfig 5806 2fa0 8B77 andi r24,lo8(123) 5807 2fa2 8B66 ori r24,lo8(107) 5808 2fa4 8093 0000 sts Parameter_GlobalConfig,r24 5809 2fa8 8091 0000 lds r24,Parameter_ExtraConfig 5810 2fac 8C7B andi r24,lo8(-68) 5811 2fae 8093 0000 sts Parameter_ExtraConfig,r24 5812 2fb2 88EC ldi r24,lo8(-56) 5813 2fb4 8093 0000 sts Parameter_HoehenSchalter,r24 5814 2fb8 00C0 rjmp .L507 5815 .L506: 5816 2fba 8091 0000 lds r24,FC_StatusFlags 5817 2fbe 84FF sbrs r24,4 5818 2fc0 00C0 rjmp .L507 5819 2fc2 3093 0000 sts (StickGier)+1,r19 5820 2fc6 2093 0000 sts StickGier,r18 5821 2fca 3093 0000 sts (StickNick)+1,r19 5822 2fce 2093 0000 sts StickNick,r18 5823 2fd2 3093 0000 sts (StickRoll)+1,r19 5824 2fd6 2093 0000 sts StickRoll,r18 5825 2fda 9AE5 ldi r25,lo8(90) 5826 2fdc 9093 0000 sts GyroFaktor,r25 5827 2fe0 88E7 ldi r24,lo8(120) 5828 2fe2 8093 0000 sts IntegralFaktor,r24 5829 2fe6 9093 0000 sts GyroFaktorGier,r25 5830 2fea 8093 0000 sts IntegralFaktorGier,r24 5831 2fee 1092 0000 sts Looping_Roll,__zero_reg__ 5832 2ff2 1092 0000 sts Looping_Nick,__zero_reg__ 5833 .L507: 5834 2ff6 8091 0000 lds r24,MittelIntegralNick 5835 2ffa 9091 0000 lds r25,(MittelIntegralNick)+1 5836 2ffe A091 0000 lds r26,(MittelIntegralNick)+2 5837 3002 B091 0000 lds r27,(MittelIntegralNick)+3 5838 3006 2091 0000 lds r18,IntegralNick 5839 300a 3091 0000 lds r19,(IntegralNick)+1 5840 300e 4091 0000 lds r20,(IntegralNick)+2 5841 3012 5091 0000 lds r21,(IntegralNick)+3 5842 3016 820F add r24,r18 5843 3018 931F adc r25,r19 5844 301a A41F adc r26,r20 5845 301c B51F adc r27,r21 5846 301e 8093 0000 sts MittelIntegralNick,r24 5847 3022 9093 0000 sts (MittelIntegralNick)+1,r25 5848 3026 A093 0000 sts (MittelIntegralNick)+2,r26 5849 302a B093 0000 sts (MittelIntegralNick)+3,r27 5850 302e 8091 0000 lds r24,MittelIntegralRoll 5851 3032 9091 0000 lds r25,(MittelIntegralRoll)+1 5852 3036 A091 0000 lds r26,(MittelIntegralRoll)+2 5853 303a B091 0000 lds r27,(MittelIntegralRoll)+3 5854 303e E090 0000 lds r14,IntegralRoll 5855 3042 F090 0000 lds r15,(IntegralRoll)+1 5856 3046 0091 0000 lds r16,(IntegralRoll)+2 5857 304a 1091 0000 lds r17,(IntegralRoll)+3 5858 304e EB82 std Y+3,r14 5859 3050 FC82 std Y+4,r15 5860 3052 0D83 std Y+5,r16 5861 3054 1E83 std Y+6,r17 5862 3056 8E0D add r24,r14 5863 3058 9F1D adc r25,r15 5864 305a A01F adc r26,r16 5865 305c B11F adc r27,r17 5866 305e 8093 0000 sts MittelIntegralRoll,r24 5867 3062 9093 0000 sts (MittelIntegralRoll)+1,r25 5868 3066 A093 0000 sts (MittelIntegralRoll)+2,r26 5869 306a B093 0000 sts (MittelIntegralRoll)+3,r27 5870 306e 8091 0000 lds r24,MittelIntegralNick2 5871 3072 9091 0000 lds r25,(MittelIntegralNick2)+1 5872 3076 A091 0000 lds r26,(MittelIntegralNick2)+2 5873 307a B091 0000 lds r27,(MittelIntegralNick2)+3 5874 307e E090 0000 lds r14,IntegralNick2 5875 3082 F090 0000 lds r15,(IntegralNick2)+1 5876 3086 0091 0000 lds r16,(IntegralNick2)+2 5877 308a 1091 0000 lds r17,(IntegralNick2)+3 5878 308e EF82 std Y+7,r14 5879 3090 F886 std Y+8,r15 5880 3092 0987 std Y+9,r16 5881 3094 1A87 std Y+10,r17 5882 3096 8E0D add r24,r14 5883 3098 9F1D adc r25,r15 5884 309a A01F adc r26,r16 5885 309c B11F adc r27,r17 5886 309e 8093 0000 sts MittelIntegralNick2,r24 5887 30a2 9093 0000 sts (MittelIntegralNick2)+1,r25 5888 30a6 A093 0000 sts (MittelIntegralNick2)+2,r26 5889 30aa B093 0000 sts (MittelIntegralNick2)+3,r27 5890 30ae 8091 0000 lds r24,MittelIntegralRoll2 5891 30b2 9091 0000 lds r25,(MittelIntegralRoll2)+1 5892 30b6 A091 0000 lds r26,(MittelIntegralRoll2)+2 5893 30ba B091 0000 lds r27,(MittelIntegralRoll2)+3 5894 30be E090 0000 lds r14,IntegralRoll2 5895 30c2 F090 0000 lds r15,(IntegralRoll2)+1 5896 30c6 0091 0000 lds r16,(IntegralRoll2)+2 5897 30ca 1091 0000 lds r17,(IntegralRoll2)+3 5898 30ce EB86 std Y+11,r14 5899 30d0 FC86 std Y+12,r15 5900 30d2 0D87 std Y+13,r16 5901 30d4 1E87 std Y+14,r17 5902 30d6 8E0D add r24,r14 5903 30d8 9F1D adc r25,r15 5904 30da A01F adc r26,r16 5905 30dc B11F adc r27,r17 5906 30de 8093 0000 sts MittelIntegralRoll2,r24 5907 30e2 9093 0000 sts (MittelIntegralRoll2)+1,r25 5908 30e6 A093 0000 sts (MittelIntegralRoll2)+2,r26 5909 30ea B093 0000 sts (MittelIntegralRoll2)+3,r27 5910 30ee F090 0000 lds r15,Looping_Nick 5911 30f2 FF86 std Y+15,r15 5912 30f4 FF20 tst r15 5913 30f6 01F4 brne .L510 5914 30f8 8091 0000 lds r24,Looping_Roll 5915 30fc 8823 tst r24 5916 30fe 01F4 brne .+2 5917 3100 00C0 rjmp .L892 5918 .L510: 5919 3102 1092 0000 sts IntegralAccNick,__zero_reg__ 5920 3106 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ 5921 310a 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ 5922 310e 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ 5923 3112 1092 0000 sts IntegralAccRoll,__zero_reg__ 5924 3116 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ 5925 311a 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ 5926 311e 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ 5927 3122 1092 0000 sts MittelIntegralNick,__zero_reg__ 5928 3126 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ 5929 312a 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ 5930 312e 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ 5931 3132 1092 0000 sts MittelIntegralRoll,__zero_reg__ 5932 3136 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ 5933 313a 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ 5934 313e 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ 5935 3142 1092 0000 sts MittelIntegralNick2,__zero_reg__ 5936 3146 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ 5937 314a 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ 5938 314e 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ 5939 3152 1092 0000 sts MittelIntegralRoll2,__zero_reg__ 5940 3156 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ 5941 315a 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ 5942 315e 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ 5943 3162 8091 0000 lds r24,Mess_IntegralNick 5944 3166 9091 0000 lds r25,(Mess_IntegralNick)+1 5945 316a A091 0000 lds r26,(Mess_IntegralNick)+2 5946 316e B091 0000 lds r27,(Mess_IntegralNick)+3 5947 3172 8093 0000 sts Mess_IntegralNick2,r24 5948 3176 9093 0000 sts (Mess_IntegralNick2)+1,r25 5949 317a A093 0000 sts (Mess_IntegralNick2)+2,r26 5950 317e B093 0000 sts (Mess_IntegralNick2)+3,r27 5951 3182 8091 0000 lds r24,Mess_IntegralRoll 5952 3186 9091 0000 lds r25,(Mess_IntegralRoll)+1 5953 318a A091 0000 lds r26,(Mess_IntegralRoll)+2 5954 318e B091 0000 lds r27,(Mess_IntegralRoll)+3 5955 3192 8093 0000 sts Mess_IntegralRoll2,r24 5956 3196 9093 0000 sts (Mess_IntegralRoll2)+1,r25 5957 319a A093 0000 sts (Mess_IntegralRoll2)+2,r26 5958 319e B093 0000 sts (Mess_IntegralRoll2)+3,r27 5959 31a2 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ 5960 31a6 1092 0000 sts ZaehlMessungen,__zero_reg__ 5961 31aa 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ 5962 31ae 1092 0000 sts LageKorrekturNick,__zero_reg__ 5963 31b2 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ 5964 31b6 1092 0000 sts LageKorrekturRoll,__zero_reg__ 5965 31ba 0F85 ldd r16,Y+15 5966 31bc 0023 tst r16 5967 31be 01F0 breq .+2 5968 31c0 00C0 rjmp .L511 5969 .L892: 5970 31c2 8091 0000 lds r24,Looping_Roll 5971 31c6 8823 tst r24 5972 31c8 01F0 breq .+2 5973 31ca 00C0 rjmp .L511 5974 31cc 8091 0000 lds r24,Aktuell_az 5975 31d0 9091 0000 lds r25,(Aktuell_az)+1 5976 31d4 8150 subi r24,lo8(513) 5977 31d6 9240 sbci r25,hi8(513) 5978 31d8 04F4 brge .L512 5979 31da 8091 0000 lds r24,MotorenEin 5980 31de 8823 tst r24 5981 31e0 01F4 brne .+2 5982 31e2 00C0 rjmp .L511 5983 .L512: 5984 31e4 9090 0000 lds r9,FromNaviCtrl_Value 5985 31e8 A090 0000 lds r10,EE_Parameter+28 5986 31ec 2090 0000 lds r2,Mittelwert_AccNick 5987 31f0 3090 0000 lds r3,(Mittelwert_AccNick)+1 5988 31f4 4090 0000 lds r4,Mittelwert_AccRoll 5989 31f8 5090 0000 lds r5,(Mittelwert_AccRoll)+1 5990 31fc 1914 cp __zero_reg__,r9 5991 31fe 04F0 brlt .+2 5992 3200 00C0 rjmp .L513 5993 3202 BB24 clr r11 5994 3204 CC24 clr r12 5995 3206 DD24 clr r13 5996 3208 CA01 movw r24,r20 5997 320a B901 movw r22,r18 5998 320c A601 movw r20,r12 5999 320e 9501 movw r18,r10 6000 3210 0E94 0000 call __divmodsi4 6001 3214 7901 movw r14,r18 6002 3216 8A01 movw r16,r20 6003 3218 8091 0000 lds r24,FromNaviCtrl+9 6004 321c 9091 0000 lds r25,(FromNaviCtrl+9)+1 6005 3220 281A sub r2,r24 6006 3222 390A sbc r3,r25 6007 3224 C101 movw r24,r2 6008 3226 AA27 clr r26 6009 3228 97FD sbrc r25,7 6010 322a A095 com r26 6011 322c BA2F mov r27,r26 6012 322e E81A sub r14,r24 6013 3230 F90A sbc r15,r25 6014 3232 0A0B sbc r16,r26 6015 3234 1B0B sbc r17,r27 6016 3236 6B81 ldd r22,Y+3 6017 3238 7C81 ldd r23,Y+4 6018 323a 8D81 ldd r24,Y+5 6019 323c 9E81 ldd r25,Y+6 6020 323e A601 movw r20,r12 6021 3240 9501 movw r18,r10 6022 3242 0E94 0000 call __divmodsi4 6023 3246 5901 movw r10,r18 6024 3248 6A01 movw r12,r20 6025 324a 8091 0000 lds r24,FromNaviCtrl+11 6026 324e 9091 0000 lds r25,(FromNaviCtrl+11)+1 6027 3252 481A sub r4,r24 6028 3254 590A sbc r5,r25 6029 3256 C201 movw r24,r4 6030 3258 AA27 clr r26 6031 325a 97FD sbrc r25,7 6032 325c A095 com r26 6033 325e BA2F mov r27,r26 6034 3260 A81A sub r10,r24 6035 3262 B90A sbc r11,r25 6036 3264 CA0A sbc r12,r26 6037 3266 DB0A sbc r13,r27 6038 3268 292C mov r2,r9 6039 326a 3324 clr r3 6040 326c 27FC sbrc r2,7 6041 326e 3094 com r3 6042 3270 432C mov r4,r3 6043 3272 532C mov r5,r3 6044 3274 C801 movw r24,r16 6045 3276 B701 movw r22,r14 6046 3278 A201 movw r20,r4 6047 327a 9101 movw r18,r2 6048 327c 0E94 0000 call __mulsi3 6049 3280 97FF sbrs r25,7 6050 3282 00C0 rjmp .L514 6051 3284 6150 subi r22,lo8(-(511)) 6052 3286 7E4F sbci r23,hi8(-(511)) 6053 3288 8F4F sbci r24,hlo8(-(511)) 6054 328a 9F4F sbci r25,hhi8(-(511)) 6055 .L514: 6056 328c 3B01 movw r6,r22 6057 328e 4C01 movw r8,r24 6058 3290 09E0 ldi r16,9 6059 3292 9594 1: asr r9 6060 3294 8794 ror r8 6061 3296 7794 ror r7 6062 3298 6794 ror r6 6063 329a 0A95 dec r16 6064 329c 01F4 brne 1b 6065 329e C601 movw r24,r12 6066 32a0 B501 movw r22,r10 6067 32a2 A201 movw r20,r4 6068 32a4 9101 movw r18,r2 6069 32a6 0E94 0000 call __mulsi3 6070 32aa 97FF sbrs r25,7 6071 32ac 00C0 rjmp .L515 6072 32ae 6150 subi r22,lo8(-(511)) 6073 32b0 7E4F sbci r23,hi8(-(511)) 6074 32b2 8F4F sbci r24,hlo8(-(511)) 6075 32b4 9F4F sbci r25,hhi8(-(511)) 6076 .L515: 6077 32b6 5B01 movw r10,r22 6078 32b8 6C01 movw r12,r24 6079 32ba 19E0 ldi r17,9 6080 32bc D594 1: asr r13 6081 32be C794 ror r12 6082 32c0 B794 ror r11 6083 32c2 A794 ror r10 6084 32c4 1A95 dec r17 6085 32c6 01F4 brne 1b 6086 32c8 8091 0000 lds r24,MaxStickNick 6087 32cc 9091 0000 lds r25,(MaxStickNick)+1 6088 32d0 8134 cpi r24,65 6089 32d2 9105 cpc r25,__zero_reg__ 6090 32d4 04F4 brge .L517 6091 32d6 8091 0000 lds r24,MaxStickRoll 6092 32da 9091 0000 lds r25,(MaxStickRoll)+1 6093 32de 8134 cpi r24,65 6094 32e0 9105 cpc r25,__zero_reg__ 6095 32e2 04F0 brlt .L516 6096 .L517: 6097 32e4 D401 movw r26,r8 6098 32e6 C301 movw r24,r6 6099 32e8 97FE sbrs r9,7 6100 32ea 00C0 rjmp .L518 6101 32ec 0196 adiw r24,1 6102 32ee A11D adc r26,__zero_reg__ 6103 32f0 B11D adc r27,__zero_reg__ 6104 .L518: 6105 32f2 3C01 movw r6,r24 6106 32f4 4D01 movw r8,r26 6107 32f6 9594 asr r9 6108 32f8 8794 ror r8 6109 32fa 7794 ror r7 6110 32fc 6794 ror r6 6111 32fe D601 movw r26,r12 6112 3300 C501 movw r24,r10 6113 3302 D7FE sbrs r13,7 6114 3304 00C0 rjmp .L519 6115 3306 0196 adiw r24,1 6116 3308 A11D adc r26,__zero_reg__ 6117 330a B11D adc r27,__zero_reg__ 6118 .L519: 6119 330c 5C01 movw r10,r24 6120 330e 6D01 movw r12,r26 6121 3310 D594 asr r13 6122 3312 C794 ror r12 6123 3314 B794 ror r11 6124 3316 A794 ror r10 6125 .L516: 6126 3318 8091 0000 lds r24,FromNaviCtrl_Value+2 6127 331c 282F mov r18,r24 6128 331e 3327 clr r19 6129 3320 27FD sbrc r18,7 6130 3322 3095 com r19 6131 3324 432F mov r20,r19 6132 3326 532F mov r21,r19 6133 3328 2615 cp r18,r6 6134 332a 3705 cpc r19,r7 6135 332c 4805 cpc r20,r8 6136 332e 5905 cpc r21,r9 6137 3330 04F4 brge .L520 6138 3332 3901 movw r6,r18 6139 3334 4A01 movw r8,r20 6140 .L520: 6141 3336 9927 clr r25 6142 3338 87FD sbrc r24,7 6143 333a 9095 com r25 6144 333c 9095 com r25 6145 333e 8195 neg r24 6146 3340 9F4F sbci r25,lo8(-1) 6147 3342 AA27 clr r26 6148 3344 97FD sbrc r25,7 6149 3346 A095 com r26 6150 3348 BA2F mov r27,r26 6151 334a 6816 cp r6,r24 6152 334c 7906 cpc r7,r25 6153 334e 8A06 cpc r8,r26 6154 3350 9B06 cpc r9,r27 6155 3352 04F4 brge .L521 6156 3354 3C01 movw r6,r24 6157 3356 4D01 movw r8,r26 6158 .L521: 6159 3358 2A15 cp r18,r10 6160 335a 3B05 cpc r19,r11 6161 335c 4C05 cpc r20,r12 6162 335e 5D05 cpc r21,r13 6163 3360 04F4 brge .L522 6164 3362 5901 movw r10,r18 6165 3364 6A01 movw r12,r20 6166 .L522: 6167 3366 A816 cp r10,r24 6168 3368 B906 cpc r11,r25 6169 336a CA06 cpc r12,r26 6170 336c DB06 cpc r13,r27 6171 336e 04F0 brlt .+2 6172 3370 00C0 rjmp .L524 6173 3372 5C01 movw r10,r24 6174 3374 6D01 movw r12,r26 6175 3376 00C0 rjmp .L524 6176 .L513: 6177 3378 EA2C mov r14,r10 6178 337a FF24 clr r15 6179 337c 0027 clr r16 6180 337e 1127 clr r17 6181 3380 CA01 movw r24,r20 6182 3382 B901 movw r22,r18 6183 3384 A801 movw r20,r16 6184 3386 9701 movw r18,r14 6185 3388 0E94 0000 call __divmodsi4 6186 338c 3901 movw r6,r18 6187 338e 4A01 movw r8,r20 6188 3390 C101 movw r24,r2 6189 3392 AA27 clr r26 6190 3394 97FD sbrc r25,7 6191 3396 A095 com r26 6192 3398 BA2F mov r27,r26 6193 339a 681A sub r6,r24 6194 339c 790A sbc r7,r25 6195 339e 8A0A sbc r8,r26 6196 33a0 9B0A sbc r9,r27 6197 33a2 6B81 ldd r22,Y+3 6198 33a4 7C81 ldd r23,Y+4 6199 33a6 8D81 ldd r24,Y+5 6200 33a8 9E81 ldd r25,Y+6 6201 33aa A801 movw r20,r16 6202 33ac 9701 movw r18,r14 6203 33ae 0E94 0000 call __divmodsi4 6204 33b2 5901 movw r10,r18 6205 33b4 6A01 movw r12,r20 6206 33b6 C201 movw r24,r4 6207 33b8 AA27 clr r26 6208 33ba 97FD sbrc r25,7 6209 33bc A095 com r26 6210 33be BA2F mov r27,r26 6211 33c0 A81A sub r10,r24 6212 33c2 B90A sbc r11,r25 6213 33c4 CA0A sbc r12,r26 6214 33c6 DB0A sbc r13,r27 6215 33c8 D401 movw r26,r8 6216 33ca C301 movw r24,r6 6217 33cc 97FE sbrs r9,7 6218 33ce 00C0 rjmp .L525 6219 33d0 0F96 adiw r24,15 6220 33d2 A11D adc r26,__zero_reg__ 6221 33d4 B11D adc r27,__zero_reg__ 6222 .L525: 6223 33d6 3C01 movw r6,r24 6224 33d8 4D01 movw r8,r26 6225 33da F4E0 ldi r31,4 6226 33dc 9594 1: asr r9 6227 33de 8794 ror r8 6228 33e0 7794 ror r7 6229 33e2 6794 ror r6 6230 33e4 FA95 dec r31 6231 33e6 01F4 brne 1b 6232 33e8 D601 movw r26,r12 6233 33ea C501 movw r24,r10 6234 33ec D7FE sbrs r13,7 6235 33ee 00C0 rjmp .L526 6236 33f0 0F96 adiw r24,15 6237 33f2 A11D adc r26,__zero_reg__ 6238 33f4 B11D adc r27,__zero_reg__ 6239 .L526: 6240 33f6 5C01 movw r10,r24 6241 33f8 6D01 movw r12,r26 6242 33fa E4E0 ldi r30,4 6243 33fc D594 1: asr r13 6244 33fe C794 ror r12 6245 3400 B794 ror r11 6246 3402 A794 ror r10 6247 3404 EA95 dec r30 6248 3406 01F4 brne 1b 6249 3408 8091 0000 lds r24,MaxStickNick 6250 340c 9091 0000 lds r25,(MaxStickNick)+1 6251 3410 8134 cpi r24,65 6252 3412 9105 cpc r25,__zero_reg__ 6253 3414 04F4 brge .L528 6254 3416 8091 0000 lds r24,MaxStickRoll 6255 341a 9091 0000 lds r25,(MaxStickRoll)+1 6256 341e 8134 cpi r24,65 6257 3420 9105 cpc r25,__zero_reg__ 6258 3422 04F0 brlt .L527 6259 .L528: 6260 3424 C401 movw r24,r8 6261 3426 B301 movw r22,r6 6262 3428 23E0 ldi r18,lo8(3) 6263 342a 30E0 ldi r19,hi8(3) 6264 342c 40E0 ldi r20,hlo8(3) 6265 342e 50E0 ldi r21,hhi8(3) 6266 3430 0E94 0000 call __divmodsi4 6267 3434 3901 movw r6,r18 6268 3436 4A01 movw r8,r20 6269 3438 C601 movw r24,r12 6270 343a B501 movw r22,r10 6271 343c 23E0 ldi r18,lo8(3) 6272 343e 30E0 ldi r19,hi8(3) 6273 3440 40E0 ldi r20,hlo8(3) 6274 3442 50E0 ldi r21,hhi8(3) 6275 3444 0E94 0000 call __divmodsi4 6276 3448 5901 movw r10,r18 6277 344a 6A01 movw r12,r20 6278 .L527: 6279 344c 8091 0000 lds r24,EE_Parameter+4 6280 3450 E82F mov r30,r24 6281 3452 FF27 clr r31 6282 3454 EE0F add r30,r30 6283 3456 FF1F adc r31,r31 6284 3458 E050 subi r30,lo8(-(PPM_in)) 6285 345a F040 sbci r31,hi8(-(PPM_in)) 6286 345c 8081 ld r24,Z 6287 345e 9181 ldd r25,Z+1 6288 3460 0190 ld __tmp_reg__,Z+ 6289 3462 F081 ld r31,Z 6290 3464 E02D mov r30,__tmp_reg__ 6291 3466 F7FF sbrs r31,7 6292 3468 00C0 rjmp .L530 6293 346a F095 com r31 6294 346c E195 neg r30 6295 346e FF4F sbci r31,lo8(-1) 6296 .L530: 6297 3470 7A97 sbiw r30,26 6298 3472 04F0 brlt .L529 6299 3474 C401 movw r24,r8 6300 3476 B301 movw r22,r6 6301 3478 23E0 ldi r18,lo8(3) 6302 347a 30E0 ldi r19,hi8(3) 6303 347c 40E0 ldi r20,hlo8(3) 6304 347e 50E0 ldi r21,hhi8(3) 6305 3480 0E94 0000 call __divmodsi4 6306 3484 3901 movw r6,r18 6307 3486 4A01 movw r8,r20 6308 3488 C601 movw r24,r12 6309 348a B501 movw r22,r10 6310 348c 23E0 ldi r18,lo8(3) 6311 348e 30E0 ldi r19,hi8(3) 6312 3490 40E0 ldi r20,hlo8(3) 6313 3492 50E0 ldi r21,hhi8(3) 6314 3494 0E94 0000 call __divmodsi4 6315 3498 5901 movw r10,r18 6316 349a 6A01 movw r12,r20 6317 .L529: 6318 349c 89E1 ldi r24,lo8(25) 6319 349e 8093 0000 sts KompassFusion,r24 6320 34a2 21E2 ldi r18,lo8(33) 6321 34a4 6216 cp r6,r18 6322 34a6 7104 cpc r7,__zero_reg__ 6323 34a8 8104 cpc r8,__zero_reg__ 6324 34aa 9104 cpc r9,__zero_reg__ 6325 34ac 04F0 brlt .L531 6326 34ae 70E2 ldi r23,lo8(32) 6327 34b0 672E mov r6,r23 6328 34b2 712C mov r7,__zero_reg__ 6329 34b4 812C mov r8,__zero_reg__ 6330 34b6 912C mov r9,__zero_reg__ 6331 .L531: 6332 34b8 30EE ldi r19,lo8(-32) 6333 34ba 6316 cp r6,r19 6334 34bc 3FEF ldi r19,hi8(-32) 6335 34be 7306 cpc r7,r19 6336 34c0 3FEF ldi r19,hlo8(-32) 6337 34c2 8306 cpc r8,r19 6338 34c4 3FEF ldi r19,hhi8(-32) 6339 34c6 9306 cpc r9,r19 6340 34c8 04F4 brge .L532 6341 34ca 60EE ldi r22,lo8(-32) 6342 34cc 662E mov r6,r22 6343 34ce 6FEF ldi r22,hi8(-32) 6344 34d0 762E mov r7,r22 6345 34d2 6FEF ldi r22,hlo8(-32) 6346 34d4 862E mov r8,r22 6347 34d6 6FEF ldi r22,hhi8(-32) 6348 34d8 962E mov r9,r22 6349 .L532: 6350 34da 41E2 ldi r20,lo8(33) 6351 34dc A416 cp r10,r20 6352 34de B104 cpc r11,__zero_reg__ 6353 34e0 C104 cpc r12,__zero_reg__ 6354 34e2 D104 cpc r13,__zero_reg__ 6355 34e4 04F0 brlt .L533 6356 34e6 50E2 ldi r21,lo8(32) 6357 34e8 A52E mov r10,r21 6358 34ea B12C mov r11,__zero_reg__ 6359 34ec C12C mov r12,__zero_reg__ 6360 34ee D12C mov r13,__zero_reg__ 6361 .L533: 6362 34f0 50EE ldi r21,lo8(-32) 6363 34f2 A516 cp r10,r21 6364 34f4 5FEF ldi r21,hi8(-32) 6365 34f6 B506 cpc r11,r21 6366 34f8 5FEF ldi r21,hlo8(-32) 6367 34fa C506 cpc r12,r21 6368 34fc 5FEF ldi r21,hhi8(-32) 6369 34fe D506 cpc r13,r21 6370 3500 04F4 brge .L524 6371 3502 40EE ldi r20,lo8(-32) 6372 3504 A42E mov r10,r20 6373 3506 4FEF ldi r20,hi8(-32) 6374 3508 B42E mov r11,r20 6375 350a 4FEF ldi r20,hlo8(-32) 6376 350c C42E mov r12,r20 6377 350e 4FEF ldi r20,hhi8(-32) 6378 3510 D42E mov r13,r20 6379 .L524: 6380 3512 8091 0000 lds r24,Mess_IntegralNick 6381 3516 9091 0000 lds r25,(Mess_IntegralNick)+1 6382 351a A091 0000 lds r26,(Mess_IntegralNick)+2 6383 351e B091 0000 lds r27,(Mess_IntegralNick)+3 6384 3522 8619 sub r24,r6 6385 3524 9709 sbc r25,r7 6386 3526 A809 sbc r26,r8 6387 3528 B909 sbc r27,r9 6388 352a 8093 0000 sts Mess_IntegralNick,r24 6389 352e 9093 0000 sts (Mess_IntegralNick)+1,r25 6390 3532 A093 0000 sts (Mess_IntegralNick)+2,r26 6391 3536 B093 0000 sts (Mess_IntegralNick)+3,r27 6392 353a 8091 0000 lds r24,Mess_IntegralRoll 6393 353e 9091 0000 lds r25,(Mess_IntegralRoll)+1 6394 3542 A091 0000 lds r26,(Mess_IntegralRoll)+2 6395 3546 B091 0000 lds r27,(Mess_IntegralRoll)+3 6396 354a 8A19 sub r24,r10 6397 354c 9B09 sbc r25,r11 6398 354e AC09 sbc r26,r12 6399 3550 BD09 sbc r27,r13 6400 3552 8093 0000 sts Mess_IntegralRoll,r24 6401 3556 9093 0000 sts (Mess_IntegralRoll)+1,r25 6402 355a A093 0000 sts (Mess_IntegralRoll)+2,r26 6403 355e B093 0000 sts (Mess_IntegralRoll)+3,r27 6404 .L511: 6405 3562 8091 0000 lds r24,ZaehlMessungen 6406 3566 9091 0000 lds r25,(ZaehlMessungen)+1 6407 356a 8F3F cpi r24,255 6408 356c 9105 cpc r25,__zero_reg__ 6409 356e 01F0 breq .+2 6410 3570 00F4 brsh .+2 6411 3572 00C0 rjmp .L535 6412 3574 6F85 ldd r22,Y+15 6413 3576 6623 tst r22 6414 3578 01F0 breq .+2 6415 357a 00C0 rjmp .L536 6416 357c 8091 0000 lds r24,Looping_Roll 6417 3580 8823 tst r24 6418 3582 01F0 breq .+2 6419 3584 00C0 rjmp .L536 6420 3586 8091 0000 lds r24,TrichterFlug 6421 358a 8823 tst r24 6422 358c 01F0 breq .+2 6423 358e 00C0 rjmp .L536 6424 3590 7091 0000 lds r23,EE_Parameter+68 6425 3594 788B std Y+16,r23 6426 3596 7723 tst r23 6427 3598 01F4 brne .+2 6428 359a 00C0 rjmp .L536 6429 359c 8091 0000 lds r24,MittelIntegralNick 6430 35a0 9091 0000 lds r25,(MittelIntegralNick)+1 6431 35a4 A091 0000 lds r26,(MittelIntegralNick)+2 6432 35a8 B091 0000 lds r27,(MittelIntegralNick)+3 6433 35ac B7FF sbrs r27,7 6434 35ae 00C0 rjmp .L537 6435 35b0 8150 subi r24,lo8(-(255)) 6436 35b2 9F4F sbci r25,hi8(-(255)) 6437 35b4 AF4F sbci r26,hlo8(-(255)) 6438 35b6 BF4F sbci r27,hhi8(-(255)) 6439 .L537: 6440 35b8 E92E mov r14,r25 6441 35ba FA2E mov r15,r26 6442 35bc 0B2F mov r16,r27 6443 35be 1127 clr r17 6444 35c0 07FD sbrc r16,7 6445 35c2 1A95 dec r17 6446 35c4 E092 0000 sts MittelIntegralNick,r14 6447 35c8 F092 0000 sts (MittelIntegralNick)+1,r15 6448 35cc 0093 0000 sts (MittelIntegralNick)+2,r16 6449 35d0 1093 0000 sts (MittelIntegralNick)+3,r17 6450 35d4 8091 0000 lds r24,MittelIntegralRoll 6451 35d8 9091 0000 lds r25,(MittelIntegralRoll)+1 6452 35dc A091 0000 lds r26,(MittelIntegralRoll)+2 6453 35e0 B091 0000 lds r27,(MittelIntegralRoll)+3 6454 35e4 B7FF sbrs r27,7 6455 35e6 00C0 rjmp .L538 6456 35e8 8150 subi r24,lo8(-(255)) 6457 35ea 9F4F sbci r25,hi8(-(255)) 6458 35ec AF4F sbci r26,hlo8(-(255)) 6459 35ee BF4F sbci r27,hhi8(-(255)) 6460 .L538: 6461 35f0 892F mov r24,r25 6462 35f2 9A2F mov r25,r26 6463 35f4 AB2F mov r26,r27 6464 35f6 BB27 clr r27 6465 35f8 A7FD sbrc r26,7 6466 35fa BA95 dec r27 6467 35fc 898B std Y+17,r24 6468 35fe 9A8B std Y+18,r25 6469 3600 AB8B std Y+19,r26 6470 3602 BC8B std Y+20,r27 6471 3604 8093 0000 sts MittelIntegralRoll,r24 6472 3608 9093 0000 sts (MittelIntegralRoll)+1,r25 6473 360c A093 0000 sts (MittelIntegralRoll)+2,r26 6474 3610 B093 0000 sts (MittelIntegralRoll)+3,r27 6475 3614 8091 0000 lds r24,EE_Parameter+28 6476 3618 A82E mov r10,r24 6477 361a BB24 clr r11 6478 361c CC24 clr r12 6479 361e DD24 clr r13 6480 3620 2091 0000 lds r18,IntegralAccNick 6481 3624 3091 0000 lds r19,(IntegralAccNick)+1 6482 3628 4091 0000 lds r20,(IntegralAccNick)+2 6483 362c 5091 0000 lds r21,(IntegralAccNick)+3 6484 3630 C601 movw r24,r12 6485 3632 B501 movw r22,r10 6486 3634 0E94 0000 call __mulsi3 6487 3638 97FF sbrs r25,7 6488 363a 00C0 rjmp .L539 6489 363c 6150 subi r22,lo8(-(255)) 6490 363e 7F4F sbci r23,hi8(-(255)) 6491 3640 8F4F sbci r24,hlo8(-(255)) 6492 3642 9F4F sbci r25,hhi8(-(255)) 6493 .L539: 6494 3644 672E mov r6,r23 6495 3646 782E mov r7,r24 6496 3648 892E mov r8,r25 6497 364a 9924 clr r9 6498 364c 87FC sbrc r8,7 6499 364e 9A94 dec r9 6500 3650 6092 0000 sts IntegralAccNick,r6 6501 3654 7092 0000 sts (IntegralAccNick)+1,r7 6502 3658 8092 0000 sts (IntegralAccNick)+2,r8 6503 365c 9092 0000 sts (IntegralAccNick)+3,r9 6504 3660 2091 0000 lds r18,IntegralAccRoll 6505 3664 3091 0000 lds r19,(IntegralAccRoll)+1 6506 3668 4091 0000 lds r20,(IntegralAccRoll)+2 6507 366c 5091 0000 lds r21,(IntegralAccRoll)+3 6508 3670 C601 movw r24,r12 6509 3672 B501 movw r22,r10 6510 3674 0E94 0000 call __mulsi3 6511 3678 97FF sbrs r25,7 6512 367a 00C0 rjmp .L540 6513 367c 6150 subi r22,lo8(-(255)) 6514 367e 7F4F sbci r23,hi8(-(255)) 6515 3680 8F4F sbci r24,hlo8(-(255)) 6516 3682 9F4F sbci r25,hhi8(-(255)) 6517 .L540: 6518 3684 272E mov r2,r23 6519 3686 382E mov r3,r24 6520 3688 492E mov r4,r25 6521 368a 5524 clr r5 6522 368c 47FC sbrc r4,7 6523 368e 5A94 dec r5 6524 3690 2092 0000 sts IntegralAccRoll,r2 6525 3694 3092 0000 sts (IntegralAccRoll)+1,r3 6526 3698 4092 0000 sts (IntegralAccRoll)+2,r4 6527 369c 5092 0000 sts (IntegralAccRoll)+3,r5 6528 36a0 8091 0000 lds r24,IntegralAccZ 6529 36a4 9091 0000 lds r25,(IntegralAccZ)+1 6530 36a8 A091 0000 lds r26,(IntegralAccZ)+2 6531 36ac B091 0000 lds r27,(IntegralAccZ)+3 6532 36b0 B7FF sbrs r27,7 6533 36b2 00C0 rjmp .L541 6534 36b4 8150 subi r24,lo8(-(255)) 6535 36b6 9F4F sbci r25,hi8(-(255)) 6536 36b8 AF4F sbci r26,hlo8(-(255)) 6537 36ba BF4F sbci r27,hhi8(-(255)) 6538 .L541: 6539 36bc 892F mov r24,r25 6540 36be 9A2F mov r25,r26 6541 36c0 AB2F mov r26,r27 6542 36c2 BB27 clr r27 6543 36c4 A7FD sbrc r26,7 6544 36c6 BA95 dec r27 6545 36c8 8093 0000 sts IntegralAccZ,r24 6546 36cc 9093 0000 sts (IntegralAccZ)+1,r25 6547 36d0 A093 0000 sts (IntegralAccZ)+2,r26 6548 36d4 B093 0000 sts (IntegralAccZ)+3,r27 6549 36d8 D801 movw r26,r16 6550 36da C701 movw r24,r14 6551 36dc 8619 sub r24,r6 6552 36de 9709 sbc r25,r7 6553 36e0 A809 sbc r26,r8 6554 36e2 B909 sbc r27,r9 6555 36e4 8093 0000 sts IntegralFehlerNick.3,r24 6556 36e8 9093 0000 sts (IntegralFehlerNick.3)+1,r25 6557 36ec A093 0000 sts (IntegralFehlerNick.3)+2,r26 6558 36f0 B093 0000 sts (IntegralFehlerNick.3)+3,r27 6559 36f4 2091 0000 lds r18,EE_Parameter+67 6560 36f8 E22E mov r14,r18 6561 36fa FF24 clr r15 6562 36fc 0027 clr r16 6563 36fe 1127 clr r17 6564 3700 BC01 movw r22,r24 6565 3702 CD01 movw r24,r26 6566 3704 A801 movw r20,r16 6567 3706 9701 movw r18,r14 6568 3708 0E94 0000 call __divmodsi4 6569 370c 5901 movw r10,r18 6570 370e 6A01 movw r12,r20 6571 3710 2093 0000 sts ausgleichNick.10,r18 6572 3714 3093 0000 sts (ausgleichNick.10)+1,r19 6573 3718 4093 0000 sts (ausgleichNick.10)+2,r20 6574 371c 5093 0000 sts (ausgleichNick.10)+3,r21 6575 3720 8989 ldd r24,Y+17 6576 3722 9A89 ldd r25,Y+18 6577 3724 AB89 ldd r26,Y+19 6578 3726 BC89 ldd r27,Y+20 6579 3728 8219 sub r24,r2 6580 372a 9309 sbc r25,r3 6581 372c A409 sbc r26,r4 6582 372e B509 sbc r27,r5 6583 3730 8093 0000 sts IntegralFehlerRoll.4,r24 6584 3734 9093 0000 sts (IntegralFehlerRoll.4)+1,r25 6585 3738 A093 0000 sts (IntegralFehlerRoll.4)+2,r26 6586 373c B093 0000 sts (IntegralFehlerRoll.4)+3,r27 6587 3740 BC01 movw r22,r24 6588 3742 CD01 movw r24,r26 6589 3744 A801 movw r20,r16 6590 3746 9701 movw r18,r14 6591 3748 0E94 0000 call __divmodsi4 6592 374c 2093 0000 sts ausgleichRoll.11,r18 6593 3750 3093 0000 sts (ausgleichRoll.11)+1,r19 6594 3754 4093 0000 sts (ausgleichRoll.11)+2,r20 6595 3758 5093 0000 sts (ausgleichRoll.11)+3,r21 6596 375c D601 movw r26,r12 6597 375e C501 movw r24,r10 6598 3760 D7FE sbrs r13,7 6599 3762 00C0 rjmp .L542 6600 3764 8150 subi r24,lo8(-(255)) 6601 3766 9F4F sbci r25,hi8(-(255)) 6602 3768 AF4F sbci r26,hlo8(-(255)) 6603 376a BF4F sbci r27,hhi8(-(255)) 6604 .L542: 6605 376c 892F mov r24,r25 6606 376e 9A2F mov r25,r26 6607 3770 AB2F mov r26,r27 6608 3772 BB27 clr r27 6609 3774 A7FD sbrc r26,7 6610 3776 BA95 dec r27 6611 3778 9093 0000 sts (LageKorrekturNick)+1,r25 6612 377c 8093 0000 sts LageKorrekturNick,r24 6613 3780 57FF sbrs r21,7 6614 3782 00C0 rjmp .L543 6615 3784 2150 subi r18,lo8(-(255)) 6616 3786 3F4F sbci r19,hi8(-(255)) 6617 3788 4F4F sbci r20,hlo8(-(255)) 6618 378a 5F4F sbci r21,hhi8(-(255)) 6619 .L543: 6620 378c BB27 clr r27 6621 378e 57FD sbrc r21,7 6622 3790 BA95 dec r27 6623 3792 A52F mov r26,r21 6624 3794 942F mov r25,r20 6625 3796 832F mov r24,r19 6626 3798 9093 0000 sts (LageKorrekturRoll)+1,r25 6627 379c 8093 0000 sts LageKorrekturRoll,r24 6628 37a0 8091 0000 lds r24,MaxStickNick 6629 37a4 9091 0000 lds r25,(MaxStickNick)+1 6630 37a8 8134 cpi r24,65 6631 37aa 9105 cpc r25,__zero_reg__ 6632 37ac 04F4 brge .L545 6633 37ae 8091 0000 lds r24,MaxStickRoll 6634 37b2 9091 0000 lds r25,(MaxStickRoll)+1 6635 37b6 8134 cpi r24,65 6636 37b8 9105 cpc r25,__zero_reg__ 6637 37ba 04F4 brge .L545 6638 37bc 8091 0000 lds r24,EE_Parameter+4 6639 37c0 E82F mov r30,r24 6640 37c2 FF27 clr r31 6641 37c4 EE0F add r30,r30 6642 37c6 FF1F adc r31,r31 6643 37c8 E050 subi r30,lo8(-(PPM_in)) 6644 37ca F040 sbci r31,hi8(-(PPM_in)) 6645 37cc 8081 ld r24,Z 6646 37ce 9181 ldd r25,Z+1 6647 37d0 0190 ld __tmp_reg__,Z+ 6648 37d2 F081 ld r31,Z 6649 37d4 E02D mov r30,__tmp_reg__ 6650 37d6 F7FF sbrs r31,7 6651 37d8 00C0 rjmp .L546 6652 37da F095 com r31 6653 37dc E195 neg r30 6654 37de FF4F sbci r31,lo8(-1) 6655 .L546: 6656 37e0 7A97 sbiw r30,26 6657 37e2 04F0 brlt .L544 6658 .L545: 6659 37e4 8091 0000 lds r24,FromNaviCtrl_Value 6660 37e8 8F3F cpi r24,lo8(-1) 6661 37ea 01F4 brne .L544 6662 37ec 8091 0000 lds r24,LageKorrekturNick 6663 37f0 9091 0000 lds r25,(LageKorrekturNick)+1 6664 37f4 97FD sbrc r25,7 6665 37f6 0196 adiw r24,1 6666 .L547: 6667 37f8 9595 asr r25 6668 37fa 8795 ror r24 6669 37fc 9093 0000 sts (LageKorrekturNick)+1,r25 6670 3800 8093 0000 sts LageKorrekturNick,r24 6671 3804 8091 0000 lds r24,LageKorrekturRoll 6672 3808 9091 0000 lds r25,(LageKorrekturRoll)+1 6673 380c 97FD sbrc r25,7 6674 380e 0196 adiw r24,1 6675 .L548: 6676 3810 9595 asr r25 6677 3812 8795 ror r24 6678 3814 9093 0000 sts (LageKorrekturRoll)+1,r25 6679 3818 8093 0000 sts LageKorrekturRoll,r24 6680 .L544: 6681 381c 8091 0000 lds r24,MittelIntegralNick2 6682 3820 9091 0000 lds r25,(MittelIntegralNick2)+1 6683 3824 A091 0000 lds r26,(MittelIntegralNick2)+2 6684 3828 B091 0000 lds r27,(MittelIntegralNick2)+3 6685 382c B7FF sbrs r27,7 6686 382e 00C0 rjmp .L549 6687 3830 8150 subi r24,lo8(-(255)) 6688 3832 9F4F sbci r25,hi8(-(255)) 6689 3834 AF4F sbci r26,hlo8(-(255)) 6690 3836 BF4F sbci r27,hhi8(-(255)) 6691 .L549: 6692 3838 892F mov r24,r25 6693 383a 9A2F mov r25,r26 6694 383c AB2F mov r26,r27 6695 383e BB27 clr r27 6696 3840 A7FD sbrc r26,7 6697 3842 BA95 dec r27 6698 3844 8093 0000 sts MittelIntegralNick2,r24 6699 3848 9093 0000 sts (MittelIntegralNick2)+1,r25 6700 384c A093 0000 sts (MittelIntegralNick2)+2,r26 6701 3850 B093 0000 sts (MittelIntegralNick2)+3,r27 6702 3854 8091 0000 lds r24,MittelIntegralRoll2 6703 3858 9091 0000 lds r25,(MittelIntegralRoll2)+1 6704 385c A091 0000 lds r26,(MittelIntegralRoll2)+2 6705 3860 B091 0000 lds r27,(MittelIntegralRoll2)+3 6706 3864 B7FF sbrs r27,7 6707 3866 00C0 rjmp .L550 6708 3868 8150 subi r24,lo8(-(255)) 6709 386a 9F4F sbci r25,hi8(-(255)) 6710 386c AF4F sbci r26,hlo8(-(255)) 6711 386e BF4F sbci r27,hhi8(-(255)) 6712 .L550: 6713 3870 892F mov r24,r25 6714 3872 9A2F mov r25,r26 6715 3874 AB2F mov r26,r27 6716 3876 BB27 clr r27 6717 3878 A7FD sbrc r26,7 6718 387a BA95 dec r27 6719 387c 8093 0000 sts MittelIntegralRoll2,r24 6720 3880 9093 0000 sts (MittelIntegralRoll2)+1,r25 6721 3884 A093 0000 sts (MittelIntegralRoll2)+2,r26 6722 3888 B093 0000 sts (MittelIntegralRoll2)+3,r27 6723 388c 8091 0000 lds r24,IntegralNick 6724 3890 9091 0000 lds r25,(IntegralNick)+1 6725 3894 A091 0000 lds r26,(IntegralNick)+2 6726 3898 B091 0000 lds r27,(IntegralNick)+3 6727 389c 2F81 ldd r18,Y+7 6728 389e 3885 ldd r19,Y+8 6729 38a0 4985 ldd r20,Y+9 6730 38a2 5A85 ldd r21,Y+10 6731 38a4 281B sub r18,r24 6732 38a6 390B sbc r19,r25 6733 38a8 4A0B sbc r20,r26 6734 38aa 5B0B sbc r21,r27 6735 38ac 2093 0000 sts tmp_long.1,r18 6736 38b0 3093 0000 sts (tmp_long.1)+1,r19 6737 38b4 4093 0000 sts (tmp_long.1)+2,r20 6738 38b8 5093 0000 sts (tmp_long.1)+3,r21 6739 38bc 8091 0000 lds r24,IntegralRoll 6740 38c0 9091 0000 lds r25,(IntegralRoll)+1 6741 38c4 A091 0000 lds r26,(IntegralRoll)+2 6742 38c8 B091 0000 lds r27,(IntegralRoll)+3 6743 38cc EB84 ldd r14,Y+11 6744 38ce FC84 ldd r15,Y+12 6745 38d0 0D85 ldd r16,Y+13 6746 38d2 1E85 ldd r17,Y+14 6747 38d4 E81A sub r14,r24 6748 38d6 F90A sbc r15,r25 6749 38d8 0A0B sbc r16,r26 6750 38da 1B0B sbc r17,r27 6751 38dc E092 0000 sts tmp_long2.2,r14 6752 38e0 F092 0000 sts (tmp_long2.2)+1,r15 6753 38e4 0093 0000 sts (tmp_long2.2)+2,r16 6754 38e8 1093 0000 sts (tmp_long2.2)+3,r17 6755 38ec 2093 0000 sts IntegralFehlerNick.3,r18 6756 38f0 3093 0000 sts (IntegralFehlerNick.3)+1,r19 6757 38f4 4093 0000 sts (IntegralFehlerNick.3)+2,r20 6758 38f8 5093 0000 sts (IntegralFehlerNick.3)+3,r21 6759 38fc E092 0000 sts IntegralFehlerRoll.4,r14 6760 3900 F092 0000 sts (IntegralFehlerRoll.4)+1,r15 6761 3904 0093 0000 sts (IntegralFehlerRoll.4)+2,r16 6762 3908 1093 0000 sts (IntegralFehlerRoll.4)+3,r17 6763 390c 8091 0000 lds r24,Mess_IntegralNick2 6764 3910 9091 0000 lds r25,(Mess_IntegralNick2)+1 6765 3914 A091 0000 lds r26,(Mess_IntegralNick2)+2 6766 3918 B091 0000 lds r27,(Mess_IntegralNick2)+3 6767 391c 821B sub r24,r18 6768 391e 930B sbc r25,r19 6769 3920 A40B sbc r26,r20 6770 3922 B50B sbc r27,r21 6771 3924 8093 0000 sts Mess_IntegralNick2,r24 6772 3928 9093 0000 sts (Mess_IntegralNick2)+1,r25 6773 392c A093 0000 sts (Mess_IntegralNick2)+2,r26 6774 3930 B093 0000 sts (Mess_IntegralNick2)+3,r27 6775 3934 8091 0000 lds r24,Mess_IntegralRoll2 6776 3938 9091 0000 lds r25,(Mess_IntegralRoll2)+1 6777 393c A091 0000 lds r26,(Mess_IntegralRoll2)+2 6778 3940 B091 0000 lds r27,(Mess_IntegralRoll2)+3 6779 3944 8E19 sub r24,r14 6780 3946 9F09 sbc r25,r15 6781 3948 A00B sbc r26,r16 6782 394a B10B sbc r27,r17 6783 394c 8093 0000 sts Mess_IntegralRoll2,r24 6784 3950 9093 0000 sts (Mess_IntegralRoll2)+1,r25 6785 3954 A093 0000 sts (Mess_IntegralRoll2)+2,r26 6786 3958 B093 0000 sts (Mess_IntegralRoll2)+3,r27 6787 395c 8889 ldd r24,Y+16 6788 395e 8823 tst r24 6789 3960 01F0 breq .L551 6790 3962 2091 0000 lds r18,GierGyroFehler 6791 3966 3091 0000 lds r19,(GierGyroFehler)+1 6792 396a 2138 cpi r18,129 6793 396c 3105 cpc r19,__zero_reg__ 6794 396e 04F0 brlt .L552 6795 3970 8091 0000 lds r24,AdNeutralGier 6796 3974 9091 0000 lds r25,(AdNeutralGier)+1 6797 3978 0196 adiw r24,1 6798 397a 9093 0000 sts (AdNeutralGier)+1,r25 6799 397e 8093 0000 sts AdNeutralGier,r24 6800 .L552: 6801 3982 2058 subi r18,lo8(-128) 6802 3984 3F4F sbci r19,hi8(-128) 6803 3986 04F4 brge .L551 6804 3988 8091 0000 lds r24,AdNeutralGier 6805 398c 9091 0000 lds r25,(AdNeutralGier)+1 6806 3990 0197 sbiw r24,1 6807 3992 9093 0000 sts (AdNeutralGier)+1,r25 6808 3996 8093 0000 sts AdNeutralGier,r24 6809 .L551: 6810 399a 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ 6811 399e 1092 0000 sts GierGyroFehler,__zero_reg__ 6812 39a2 81E0 ldi r24,lo8(1) 6813 39a4 90E0 ldi r25,hi8(1) 6814 39a6 9093 0000 sts (cnt.14)+1,r25 6815 39aa 8093 0000 sts cnt.14,r24 6816 39ae E090 0000 lds r14,IntegralFehlerNick.3 6817 39b2 F090 0000 lds r15,(IntegralFehlerNick.3)+1 6818 39b6 0091 0000 lds r16,(IntegralFehlerNick.3)+2 6819 39ba 1091 0000 lds r17,(IntegralFehlerNick.3)+3 6820 39be D801 movw r26,r16 6821 39c0 C701 movw r24,r14 6822 39c2 17FF sbrs r17,7 6823 39c4 00C0 rjmp .L555 6824 39c6 8827 clr r24 6825 39c8 9927 clr r25 6826 39ca DC01 movw r26,r24 6827 39cc 8E19 sub r24,r14 6828 39ce 9F09 sbc r25,r15 6829 39d0 A00B sbc r26,r16 6830 39d2 B10B sbc r27,r17 6831 .L555: 6832 39d4 8150 subi r24,lo8(513) 6833 39d6 9240 sbci r25,hi8(513) 6834 39d8 A040 sbci r26,hlo8(513) 6835 39da B040 sbci r27,hhi8(513) 6836 39dc 04F0 brlt .L554 6837 39de 84E0 ldi r24,lo8(4) 6838 39e0 90E0 ldi r25,hi8(4) 6839 39e2 9093 0000 sts (cnt.14)+1,r25 6840 39e6 8093 0000 sts cnt.14,r24 6841 .L554: 6842 39ea 8091 0000 lds r24,MittelIntegralNick_Alt.19 6843 39ee 9091 0000 lds r25,(MittelIntegralNick_Alt.19)+1 6844 39f2 A091 0000 lds r26,(MittelIntegralNick_Alt.19)+2 6845 39f6 B091 0000 lds r27,(MittelIntegralNick_Alt.19)+3 6846 39fa 2091 0000 lds r18,MittelIntegralNick 6847 39fe 3091 0000 lds r19,(MittelIntegralNick)+1 6848 3a02 4091 0000 lds r20,(MittelIntegralNick)+2 6849 3a06 5091 0000 lds r21,(MittelIntegralNick)+3 6850 3a0a 821B sub r24,r18 6851 3a0c 930B sbc r25,r19 6852 3a0e A40B sbc r26,r20 6853 3a10 B50B sbc r27,r21 6854 3a12 815E subi r24,lo8(-(19999)) 6855 3a14 914B sbci r25,hi8(-(19999)) 6856 3a16 AF4F sbci r26,hlo8(-(19999)) 6857 3a18 BF4F sbci r27,hhi8(-(19999)) 6858 3a1a 8F53 subi r24,lo8(39999) 6859 3a1c 9C49 sbci r25,hi8(39999) 6860 3a1e A040 sbci r26,hlo8(39999) 6861 3a20 B040 sbci r27,hhi8(39999) 6862 3a22 00F0 brlo .L557 6863 3a24 8091 0000 lds r24,FromNaviCtrl_Value+1 6864 3a28 8931 cpi r24,lo8(25) 6865 3a2a 04F4 brge .+2 6866 3a2c 00C0 rjmp .L556 6867 .L557: 6868 3a2e 21E0 ldi r18,lo8(4097) 6869 3a30 E216 cp r14,r18 6870 3a32 20E1 ldi r18,hi8(4097) 6871 3a34 F206 cpc r15,r18 6872 3a36 20E0 ldi r18,hlo8(4097) 6873 3a38 0207 cpc r16,r18 6874 3a3a 20E0 ldi r18,hhi8(4097) 6875 3a3c 1207 cpc r17,r18 6876 3a3e 04F4 brge .+2 6877 3a40 00C0 rjmp .L558 6878 3a42 8091 0000 lds r24,last_n_p.15 6879 3a46 8823 tst r24 6880 3a48 01F4 brne .+2 6881 3a4a 00C0 rjmp .L559 6882 3a4c D801 movw r26,r16 6883 3a4e C701 movw r24,r14 6884 3a50 17FF sbrs r17,7 6885 3a52 00C0 rjmp .L560 6886 3a54 8827 clr r24 6887 3a56 9927 clr r25 6888 3a58 DC01 movw r26,r24 6889 3a5a 8E19 sub r24,r14 6890 3a5c 9F09 sbc r25,r15 6891 3a5e A00B sbc r26,r16 6892 3a60 B10B sbc r27,r17 6893 .L560: 6894 3a62 9C01 movw r18,r24 6895 3a64 AD01 movw r20,r26 6896 3a66 B7FF sbrs r27,7 6897 3a68 00C0 rjmp .L561 6898 3a6a 2150 subi r18,lo8(-(511)) 6899 3a6c 3E4F sbci r19,hi8(-(511)) 6900 3a6e 4F4F sbci r20,hlo8(-(511)) 6901 3a70 5F4F sbci r21,hhi8(-(511)) 6902 .L561: 6903 3a72 F9E0 ldi r31,9 6904 3a74 5595 1: asr r21 6905 3a76 4795 ror r20 6906 3a78 3795 ror r19 6907 3a7a 2795 ror r18 6908 3a7c FA95 dec r31 6909 3a7e 01F4 brne 1b 6910 3a80 8091 0000 lds r24,cnt.14 6911 3a84 9091 0000 lds r25,(cnt.14)+1 6912 3a88 820F add r24,r18 6913 3a8a 931F adc r25,r19 6914 3a8c 9093 0000 sts (cnt.14)+1,r25 6915 3a90 8093 0000 sts cnt.14,r24 6916 3a94 D801 movw r26,r16 6917 3a96 C701 movw r24,r14 6918 3a98 17FF sbrs r17,7 6919 3a9a 00C0 rjmp .L562 6920 3a9c 0796 adiw r24,7 6921 3a9e A11D adc r26,__zero_reg__ 6922 3aa0 B11D adc r27,__zero_reg__ 6923 .L562: 6924 3aa2 E3E0 ldi r30,3 6925 3aa4 B595 1: asr r27 6926 3aa6 A795 ror r26 6927 3aa8 9795 ror r25 6928 3aaa 8795 ror r24 6929 3aac EA95 dec r30 6930 3aae 01F4 brne 1b 6931 3ab0 8093 0000 sts ausgleichNick.10,r24 6932 3ab4 9093 0000 sts (ausgleichNick.10)+1,r25 6933 3ab8 A093 0000 sts (ausgleichNick.10)+2,r26 6934 3abc B093 0000 sts (ausgleichNick.10)+3,r27 6935 3ac0 8958 subi r24,lo8(5001) 6936 3ac2 9341 sbci r25,hi8(5001) 6937 3ac4 A040 sbci r26,hlo8(5001) 6938 3ac6 B040 sbci r27,hhi8(5001) 6939 3ac8 04F0 brlt .L563 6940 3aca 88E8 ldi r24,lo8(5000) 6941 3acc 93E1 ldi r25,hi8(5000) 6942 3ace A0E0 ldi r26,hlo8(5000) 6943 3ad0 B0E0 ldi r27,hhi8(5000) 6944 3ad2 8093 0000 sts ausgleichNick.10,r24 6945 3ad6 9093 0000 sts (ausgleichNick.10)+1,r25 6946 3ada A093 0000 sts (ausgleichNick.10)+2,r26 6947 3ade B093 0000 sts (ausgleichNick.10)+3,r27 6948 .L563: 6949 3ae2 2091 0000 lds r18,ausgleichNick.10 6950 3ae6 3091 0000 lds r19,(ausgleichNick.10)+1 6951 3aea 4091 0000 lds r20,(ausgleichNick.10)+2 6952 3aee 5091 0000 lds r21,(ausgleichNick.10)+3 6953 3af2 57FF sbrs r21,7 6954 3af4 00C0 rjmp .L564 6955 3af6 2150 subi r18,lo8(-(255)) 6956 3af8 3F4F sbci r19,hi8(-(255)) 6957 3afa 4F4F sbci r20,hlo8(-(255)) 6958 3afc 5F4F sbci r21,hhi8(-(255)) 6959 .L564: 6960 3afe 232F mov r18,r19 6961 3b00 342F mov r19,r20 6962 3b02 452F mov r20,r21 6963 3b04 5527 clr r21 6964 3b06 47FD sbrc r20,7 6965 3b08 5A95 dec r21 6966 3b0a 8091 0000 lds r24,LageKorrekturNick 6967 3b0e 9091 0000 lds r25,(LageKorrekturNick)+1 6968 3b12 820F add r24,r18 6969 3b14 931F adc r25,r19 6970 3b16 9093 0000 sts (LageKorrekturNick)+1,r25 6971 3b1a 8093 0000 sts LageKorrekturNick,r24 6972 3b1e 00C0 rjmp .L566 6973 .L559: 6974 3b20 81E0 ldi r24,lo8(1) 6975 3b22 8093 0000 sts last_n_p.15,r24 6976 3b26 00C0 rjmp .L566 6977 .L558: 6978 3b28 1092 0000 sts last_n_p.15,__zero_reg__ 6979 .L566: 6980 3b2c 40E0 ldi r20,lo8(-4096) 6981 3b2e E416 cp r14,r20 6982 3b30 40EF ldi r20,hi8(-4096) 6983 3b32 F406 cpc r15,r20 6984 3b34 4FEF ldi r20,hlo8(-4096) 6985 3b36 0407 cpc r16,r20 6986 3b38 4FEF ldi r20,hhi8(-4096) 6987 3b3a 1407 cpc r17,r20 6988 3b3c 04F0 brlt .+2 6989 3b3e 00C0 rjmp .L567 6990 3b40 8091 0000 lds r24,last_n_n.16 6991 3b44 8823 tst r24 6992 3b46 01F4 brne .+2 6993 3b48 00C0 rjmp .L568 6994 3b4a D801 movw r26,r16 6995 3b4c C701 movw r24,r14 6996 3b4e 17FF sbrs r17,7 6997 3b50 00C0 rjmp .L569 6998 3b52 8827 clr r24 6999 3b54 9927 clr r25 7000 3b56 DC01 movw r26,r24 7001 3b58 8E19 sub r24,r14 7002 3b5a 9F09 sbc r25,r15 7003 3b5c A00B sbc r26,r16 7004 3b5e B10B sbc r27,r17 7005 .L569: 7006 3b60 9C01 movw r18,r24 7007 3b62 AD01 movw r20,r26 7008 3b64 B7FF sbrs r27,7 7009 3b66 00C0 rjmp .L570 7010 3b68 2150 subi r18,lo8(-(511)) 7011 3b6a 3E4F sbci r19,hi8(-(511)) 7012 3b6c 4F4F sbci r20,hlo8(-(511)) 7013 3b6e 5F4F sbci r21,hhi8(-(511)) 7014 .L570: 7015 3b70 69E0 ldi r22,9 7016 3b72 5595 1: asr r21 7017 3b74 4795 ror r20 7018 3b76 3795 ror r19 7019 3b78 2795 ror r18 7020 3b7a 6A95 dec r22 7021 3b7c 01F4 brne 1b 7022 3b7e 8091 0000 lds r24,cnt.14 7023 3b82 9091 0000 lds r25,(cnt.14)+1 7024 3b86 820F add r24,r18 7025 3b88 931F adc r25,r19 7026 3b8a 9093 0000 sts (cnt.14)+1,r25 7027 3b8e 8093 0000 sts cnt.14,r24 7028 3b92 D801 movw r26,r16 7029 3b94 C701 movw r24,r14 7030 3b96 17FF sbrs r17,7 7031 3b98 00C0 rjmp .L571 7032 3b9a 0796 adiw r24,7 7033 3b9c A11D adc r26,__zero_reg__ 7034 3b9e B11D adc r27,__zero_reg__ 7035 .L571: 7036 3ba0 23E0 ldi r18,3 7037 3ba2 B595 1: asr r27 7038 3ba4 A795 ror r26 7039 3ba6 9795 ror r25 7040 3ba8 8795 ror r24 7041 3baa 2A95 dec r18 7042 3bac 01F4 brne 1b 7043 3bae 8093 0000 sts ausgleichNick.10,r24 7044 3bb2 9093 0000 sts (ausgleichNick.10)+1,r25 7045 3bb6 A093 0000 sts (ausgleichNick.10)+2,r26 7046 3bba B093 0000 sts (ausgleichNick.10)+3,r27 7047 3bbe 8857 subi r24,lo8(-5000) 7048 3bc0 9C4E sbci r25,hi8(-5000) 7049 3bc2 AF4F sbci r26,hlo8(-5000) 7050 3bc4 BF4F sbci r27,hhi8(-5000) 7051 3bc6 04F4 brge .L572 7052 3bc8 88E7 ldi r24,lo8(-5000) 7053 3bca 9CEE ldi r25,hi8(-5000) 7054 3bcc AFEF ldi r26,hlo8(-5000) 7055 3bce BFEF ldi r27,hhi8(-5000) 7056 3bd0 8093 0000 sts ausgleichNick.10,r24 7057 3bd4 9093 0000 sts (ausgleichNick.10)+1,r25 7058 3bd8 A093 0000 sts (ausgleichNick.10)+2,r26 7059 3bdc B093 0000 sts (ausgleichNick.10)+3,r27 7060 .L572: 7061 3be0 2091 0000 lds r18,ausgleichNick.10 7062 3be4 3091 0000 lds r19,(ausgleichNick.10)+1 7063 3be8 4091 0000 lds r20,(ausgleichNick.10)+2 7064 3bec 5091 0000 lds r21,(ausgleichNick.10)+3 7065 3bf0 57FF sbrs r21,7 7066 3bf2 00C0 rjmp .L573 7067 3bf4 2150 subi r18,lo8(-(255)) 7068 3bf6 3F4F sbci r19,hi8(-(255)) 7069 3bf8 4F4F sbci r20,hlo8(-(255)) 7070 3bfa 5F4F sbci r21,hhi8(-(255)) 7071 .L573: 7072 3bfc 232F mov r18,r19 7073 3bfe 342F mov r19,r20 7074 3c00 452F mov r20,r21 7075 3c02 5527 clr r21 7076 3c04 47FD sbrc r20,7 7077 3c06 5A95 dec r21 7078 3c08 8091 0000 lds r24,LageKorrekturNick 7079 3c0c 9091 0000 lds r25,(LageKorrekturNick)+1 7080 3c10 820F add r24,r18 7081 3c12 931F adc r25,r19 7082 3c14 9093 0000 sts (LageKorrekturNick)+1,r25 7083 3c18 8093 0000 sts LageKorrekturNick,r24 7084 3c1c 00C0 rjmp .L576 7085 .L568: 7086 3c1e 81E0 ldi r24,lo8(1) 7087 3c20 8093 0000 sts last_n_n.16,r24 7088 3c24 00C0 rjmp .L576 7089 .L567: 7090 3c26 1092 0000 sts last_n_n.16,__zero_reg__ 7091 3c2a 00C0 rjmp .L576 7092 .L556: 7093 3c2c 1092 0000 sts (cnt.14)+1,__zero_reg__ 7094 3c30 1092 0000 sts cnt.14,__zero_reg__ 7095 3c34 84E6 ldi r24,lo8(100) 7096 3c36 90E0 ldi r25,hi8(100) 7097 3c38 9093 0000 sts (KompassSignalSchlecht)+1,r25 7098 3c3c 8093 0000 sts KompassSignalSchlecht,r24 7099 .L576: 7100 3c40 6889 ldd r22,Y+16 7101 3c42 262F mov r18,r22 7102 3c44 3327 clr r19 7103 3c46 8091 0000 lds r24,cnt.14 7104 3c4a 9091 0000 lds r25,(cnt.14)+1 7105 3c4e 2817 cp r18,r24 7106 3c50 3907 cpc r19,r25 7107 3c52 04F4 brge .L577 7108 3c54 3093 0000 sts (cnt.14)+1,r19 7109 3c58 2093 0000 sts cnt.14,r18 7110 .L577: 7111 3c5c 1091 0000 lds r17,FromNaviCtrl_Value+1 7112 3c60 1123 tst r17 7113 3c62 01F0 breq .L578 7114 3c64 212F mov r18,r17 7115 3c66 3327 clr r19 7116 3c68 27FD sbrc r18,7 7117 3c6a 3095 com r19 7118 3c6c 8091 0000 lds r24,cnt.14 7119 3c70 9091 0000 lds r25,(cnt.14)+1 7120 3c74 2817 cp r18,r24 7121 3c76 3907 cpc r19,r25 7122 3c78 04F4 brge .L578 7123 3c7a 3093 0000 sts (cnt.14)+1,r19 7124 3c7e 2093 0000 sts cnt.14,r18 7125 .L578: 7126 3c82 4091 0000 lds r20,IntegralFehlerNick.3 7127 3c86 5091 0000 lds r21,(IntegralFehlerNick.3)+1 7128 3c8a 6091 0000 lds r22,(IntegralFehlerNick.3)+2 7129 3c8e 7091 0000 lds r23,(IntegralFehlerNick.3)+3 7130 3c92 4138 cpi r20,lo8(129) 7131 3c94 5105 cpc r21,__zero_reg__ 7132 3c96 6105 cpc r22,__zero_reg__ 7133 3c98 7105 cpc r23,__zero_reg__ 7134 3c9a 04F0 brlt .L580 7135 3c9c 8091 0000 lds r24,AdNeutralNick 7136 3ca0 9091 0000 lds r25,(AdNeutralNick)+1 7137 3ca4 2091 0000 lds r18,cnt.14 7138 3ca8 3091 0000 lds r19,(cnt.14)+1 7139 3cac 820F add r24,r18 7140 3cae 931F adc r25,r19 7141 3cb0 9093 0000 sts (AdNeutralNick)+1,r25 7142 3cb4 8093 0000 sts AdNeutralNick,r24 7143 .L580: 7144 3cb8 4058 subi r20,lo8(-128) 7145 3cba 5F4F sbci r21,hi8(-128) 7146 3cbc 6F4F sbci r22,hlo8(-128) 7147 3cbe 7F4F sbci r23,hhi8(-128) 7148 3cc0 04F4 brge .L581 7149 3cc2 8091 0000 lds r24,AdNeutralNick 7150 3cc6 9091 0000 lds r25,(AdNeutralNick)+1 7151 3cca 2091 0000 lds r18,cnt.14 7152 3cce 3091 0000 lds r19,(cnt.14)+1 7153 3cd2 821B sub r24,r18 7154 3cd4 930B sbc r25,r19 7155 3cd6 9093 0000 sts (AdNeutralNick)+1,r25 7156 3cda 8093 0000 sts AdNeutralNick,r24 7157 .L581: 7158 3cde 81E0 ldi r24,lo8(1) 7159 3ce0 90E0 ldi r25,hi8(1) 7160 3ce2 9093 0000 sts (cnt.14)+1,r25 7161 3ce6 8093 0000 sts cnt.14,r24 7162 3cea C090 0000 lds r12,IntegralFehlerRoll.4 7163 3cee D090 0000 lds r13,(IntegralFehlerRoll.4)+1 7164 3cf2 E090 0000 lds r14,(IntegralFehlerRoll.4)+2 7165 3cf6 F090 0000 lds r15,(IntegralFehlerRoll.4)+3 7166 3cfa D701 movw r26,r14 7167 3cfc C601 movw r24,r12 7168 3cfe F7FE sbrs r15,7 7169 3d00 00C0 rjmp .L583 7170 3d02 8827 clr r24 7171 3d04 9927 clr r25 7172 3d06 DC01 movw r26,r24 7173 3d08 8C19 sub r24,r12 7174 3d0a 9D09 sbc r25,r13 7175 3d0c AE09 sbc r26,r14 7176 3d0e BF09 sbc r27,r15 7177 .L583: 7178 3d10 8150 subi r24,lo8(513) 7179 3d12 9240 sbci r25,hi8(513) 7180 3d14 A040 sbci r26,hlo8(513) 7181 3d16 B040 sbci r27,hhi8(513) 7182 3d18 04F0 brlt .L582 7183 3d1a 84E0 ldi r24,lo8(4) 7184 3d1c 90E0 ldi r25,hi8(4) 7185 3d1e 9093 0000 sts (cnt.14)+1,r25 7186 3d22 8093 0000 sts cnt.14,r24 7187 .L582: 7188 3d26 8091 0000 lds r24,MittelIntegralRoll_Alt.20 7189 3d2a 9091 0000 lds r25,(MittelIntegralRoll_Alt.20)+1 7190 3d2e A091 0000 lds r26,(MittelIntegralRoll_Alt.20)+2 7191 3d32 B091 0000 lds r27,(MittelIntegralRoll_Alt.20)+3 7192 3d36 2091 0000 lds r18,MittelIntegralRoll 7193 3d3a 3091 0000 lds r19,(MittelIntegralRoll)+1 7194 3d3e 4091 0000 lds r20,(MittelIntegralRoll)+2 7195 3d42 5091 0000 lds r21,(MittelIntegralRoll)+3 7196 3d46 821B sub r24,r18 7197 3d48 930B sbc r25,r19 7198 3d4a A40B sbc r26,r20 7199 3d4c B50B sbc r27,r21 7200 3d4e 815E subi r24,lo8(-(19999)) 7201 3d50 914B sbci r25,hi8(-(19999)) 7202 3d52 AF4F sbci r26,hlo8(-(19999)) 7203 3d54 BF4F sbci r27,hhi8(-(19999)) 7204 3d56 8F53 subi r24,lo8(39999) 7205 3d58 9C49 sbci r25,hi8(39999) 7206 3d5a A040 sbci r26,hlo8(39999) 7207 3d5c B040 sbci r27,hhi8(39999) 7208 3d5e 00F0 brlo .L585 7209 3d60 1931 cpi r17,lo8(25) 7210 3d62 04F4 brge .+2 7211 3d64 00C0 rjmp .L584 7212 .L585: 7213 3d66 01E0 ldi r16,lo8(4097) 7214 3d68 C016 cp r12,r16 7215 3d6a 00E1 ldi r16,hi8(4097) 7216 3d6c D006 cpc r13,r16 7217 3d6e 00E0 ldi r16,hlo8(4097) 7218 3d70 E006 cpc r14,r16 7219 3d72 00E0 ldi r16,hhi8(4097) 7220 3d74 F006 cpc r15,r16 7221 3d76 04F4 brge .+2 7222 3d78 00C0 rjmp .L586 7223 3d7a 8091 0000 lds r24,last_r_p.17 7224 3d7e 8823 tst r24 7225 3d80 01F4 brne .+2 7226 3d82 00C0 rjmp .L587 7227 3d84 D701 movw r26,r14 7228 3d86 C601 movw r24,r12 7229 3d88 F7FE sbrs r15,7 7230 3d8a 00C0 rjmp .L588 7231 3d8c 8827 clr r24 7232 3d8e 9927 clr r25 7233 3d90 DC01 movw r26,r24 7234 3d92 8C19 sub r24,r12 7235 3d94 9D09 sbc r25,r13 7236 3d96 AE09 sbc r26,r14 7237 3d98 BF09 sbc r27,r15 7238 .L588: 7239 3d9a 9C01 movw r18,r24 7240 3d9c AD01 movw r20,r26 7241 3d9e B7FF sbrs r27,7 7242 3da0 00C0 rjmp .L589 7243 3da2 2150 subi r18,lo8(-(511)) 7244 3da4 3E4F sbci r19,hi8(-(511)) 7245 3da6 4F4F sbci r20,hlo8(-(511)) 7246 3da8 5F4F sbci r21,hhi8(-(511)) 7247 .L589: 7248 3daa 09E0 ldi r16,9 7249 3dac 5595 1: asr r21 7250 3dae 4795 ror r20 7251 3db0 3795 ror r19 7252 3db2 2795 ror r18 7253 3db4 0A95 dec r16 7254 3db6 01F4 brne 1b 7255 3db8 8091 0000 lds r24,cnt.14 7256 3dbc 9091 0000 lds r25,(cnt.14)+1 7257 3dc0 820F add r24,r18 7258 3dc2 931F adc r25,r19 7259 3dc4 9093 0000 sts (cnt.14)+1,r25 7260 3dc8 8093 0000 sts cnt.14,r24 7261 3dcc D701 movw r26,r14 7262 3dce C601 movw r24,r12 7263 3dd0 F7FE sbrs r15,7 7264 3dd2 00C0 rjmp .L590 7265 3dd4 0796 adiw r24,7 7266 3dd6 A11D adc r26,__zero_reg__ 7267 3dd8 B11D adc r27,__zero_reg__ 7268 .L590: 7269 3dda 13E0 ldi r17,3 7270 3ddc B595 1: asr r27 7271 3dde A795 ror r26 7272 3de0 9795 ror r25 7273 3de2 8795 ror r24 7274 3de4 1A95 dec r17 7275 3de6 01F4 brne 1b 7276 3de8 8093 0000 sts ausgleichRoll.11,r24 7277 3dec 9093 0000 sts (ausgleichRoll.11)+1,r25 7278 3df0 A093 0000 sts (ausgleichRoll.11)+2,r26 7279 3df4 B093 0000 sts (ausgleichRoll.11)+3,r27 7280 3df8 8958 subi r24,lo8(5001) 7281 3dfa 9341 sbci r25,hi8(5001) 7282 3dfc A040 sbci r26,hlo8(5001) 7283 3dfe B040 sbci r27,hhi8(5001) 7284 3e00 04F0 brlt .L591 7285 3e02 88E8 ldi r24,lo8(5000) 7286 3e04 93E1 ldi r25,hi8(5000) 7287 3e06 A0E0 ldi r26,hlo8(5000) 7288 3e08 B0E0 ldi r27,hhi8(5000) 7289 3e0a 8093 0000 sts ausgleichRoll.11,r24 7290 3e0e 9093 0000 sts (ausgleichRoll.11)+1,r25 7291 3e12 A093 0000 sts (ausgleichRoll.11)+2,r26 7292 3e16 B093 0000 sts (ausgleichRoll.11)+3,r27 7293 .L591: 7294 3e1a 2091 0000 lds r18,ausgleichRoll.11 7295 3e1e 3091 0000 lds r19,(ausgleichRoll.11)+1 7296 3e22 4091 0000 lds r20,(ausgleichRoll.11)+2 7297 3e26 5091 0000 lds r21,(ausgleichRoll.11)+3 7298 3e2a 57FF sbrs r21,7 7299 3e2c 00C0 rjmp .L592 7300 3e2e 2150 subi r18,lo8(-(255)) 7301 3e30 3F4F sbci r19,hi8(-(255)) 7302 3e32 4F4F sbci r20,hlo8(-(255)) 7303 3e34 5F4F sbci r21,hhi8(-(255)) 7304 .L592: 7305 3e36 232F mov r18,r19 7306 3e38 342F mov r19,r20 7307 3e3a 452F mov r20,r21 7308 3e3c 5527 clr r21 7309 3e3e 47FD sbrc r20,7 7310 3e40 5A95 dec r21 7311 3e42 8091 0000 lds r24,LageKorrekturRoll 7312 3e46 9091 0000 lds r25,(LageKorrekturRoll)+1 7313 3e4a 820F add r24,r18 7314 3e4c 931F adc r25,r19 7315 3e4e 9093 0000 sts (LageKorrekturRoll)+1,r25 7316 3e52 8093 0000 sts LageKorrekturRoll,r24 7317 3e56 00C0 rjmp .L594 7318 .L587: 7319 3e58 81E0 ldi r24,lo8(1) 7320 3e5a 8093 0000 sts last_r_p.17,r24 7321 3e5e 00C0 rjmp .L594 7322 .L586: 7323 3e60 1092 0000 sts last_r_p.17,__zero_reg__ 7324 .L594: 7325 3e64 20E0 ldi r18,lo8(-4096) 7326 3e66 C216 cp r12,r18 7327 3e68 20EF ldi r18,hi8(-4096) 7328 3e6a D206 cpc r13,r18 7329 3e6c 2FEF ldi r18,hlo8(-4096) 7330 3e6e E206 cpc r14,r18 7331 3e70 2FEF ldi r18,hhi8(-4096) 7332 3e72 F206 cpc r15,r18 7333 3e74 04F0 brlt .+2 7334 3e76 00C0 rjmp .L595 7335 3e78 8091 0000 lds r24,last_r_n.18 7336 3e7c 8823 tst r24 7337 3e7e 01F4 brne .+2 7338 3e80 00C0 rjmp .L596 7339 3e82 D701 movw r26,r14 7340 3e84 C601 movw r24,r12 7341 3e86 F7FE sbrs r15,7 7342 3e88 00C0 rjmp .L597 7343 3e8a 8827 clr r24 7344 3e8c 9927 clr r25 7345 3e8e DC01 movw r26,r24 7346 3e90 8C19 sub r24,r12 7347 3e92 9D09 sbc r25,r13 7348 3e94 AE09 sbc r26,r14 7349 3e96 BF09 sbc r27,r15 7350 .L597: 7351 3e98 9C01 movw r18,r24 7352 3e9a AD01 movw r20,r26 7353 3e9c B7FF sbrs r27,7 7354 3e9e 00C0 rjmp .L598 7355 3ea0 2150 subi r18,lo8(-(511)) 7356 3ea2 3E4F sbci r19,hi8(-(511)) 7357 3ea4 4F4F sbci r20,hlo8(-(511)) 7358 3ea6 5F4F sbci r21,hhi8(-(511)) 7359 .L598: 7360 3ea8 E9E0 ldi r30,9 7361 3eaa 5595 1: asr r21 7362 3eac 4795 ror r20 7363 3eae 3795 ror r19 7364 3eb0 2795 ror r18 7365 3eb2 EA95 dec r30 7366 3eb4 01F4 brne 1b 7367 3eb6 8091 0000 lds r24,cnt.14 7368 3eba 9091 0000 lds r25,(cnt.14)+1 7369 3ebe 820F add r24,r18 7370 3ec0 931F adc r25,r19 7371 3ec2 9093 0000 sts (cnt.14)+1,r25 7372 3ec6 8093 0000 sts cnt.14,r24 7373 3eca D701 movw r26,r14 7374 3ecc C601 movw r24,r12 7375 3ece F7FE sbrs r15,7 7376 3ed0 00C0 rjmp .L599 7377 3ed2 0796 adiw r24,7 7378 3ed4 A11D adc r26,__zero_reg__ 7379 3ed6 B11D adc r27,__zero_reg__ 7380 .L599: 7381 3ed8 73E0 ldi r23,3 7382 3eda B595 1: asr r27 7383 3edc A795 ror r26 7384 3ede 9795 ror r25 7385 3ee0 8795 ror r24 7386 3ee2 7A95 dec r23 7387 3ee4 01F4 brne 1b 7388 3ee6 8093 0000 sts ausgleichRoll.11,r24 7389 3eea 9093 0000 sts (ausgleichRoll.11)+1,r25 7390 3eee A093 0000 sts (ausgleichRoll.11)+2,r26 7391 3ef2 B093 0000 sts (ausgleichRoll.11)+3,r27 7392 3ef6 8857 subi r24,lo8(-5000) 7393 3ef8 9C4E sbci r25,hi8(-5000) 7394 3efa AF4F sbci r26,hlo8(-5000) 7395 3efc BF4F sbci r27,hhi8(-5000) 7396 3efe 04F4 brge .L600 7397 3f00 88E7 ldi r24,lo8(-5000) 7398 3f02 9CEE ldi r25,hi8(-5000) 7399 3f04 AFEF ldi r26,hlo8(-5000) 7400 3f06 BFEF ldi r27,hhi8(-5000) 7401 3f08 8093 0000 sts ausgleichRoll.11,r24 7402 3f0c 9093 0000 sts (ausgleichRoll.11)+1,r25 7403 3f10 A093 0000 sts (ausgleichRoll.11)+2,r26 7404 3f14 B093 0000 sts (ausgleichRoll.11)+3,r27 7405 .L600: 7406 3f18 2091 0000 lds r18,ausgleichRoll.11 7407 3f1c 3091 0000 lds r19,(ausgleichRoll.11)+1 7408 3f20 4091 0000 lds r20,(ausgleichRoll.11)+2 7409 3f24 5091 0000 lds r21,(ausgleichRoll.11)+3 7410 3f28 57FF sbrs r21,7 7411 3f2a 00C0 rjmp .L601 7412 3f2c 2150 subi r18,lo8(-(255)) 7413 3f2e 3F4F sbci r19,hi8(-(255)) 7414 3f30 4F4F sbci r20,hlo8(-(255)) 7415 3f32 5F4F sbci r21,hhi8(-(255)) 7416 .L601: 7417 3f34 232F mov r18,r19 7418 3f36 342F mov r19,r20 7419 3f38 452F mov r20,r21 7420 3f3a 5527 clr r21 7421 3f3c 47FD sbrc r20,7 7422 3f3e 5A95 dec r21 7423 3f40 8091 0000 lds r24,LageKorrekturRoll 7424 3f44 9091 0000 lds r25,(LageKorrekturRoll)+1 7425 3f48 820F add r24,r18 7426 3f4a 931F adc r25,r19 7427 3f4c 9093 0000 sts (LageKorrekturRoll)+1,r25 7428 3f50 8093 0000 sts LageKorrekturRoll,r24 7429 3f54 00C0 rjmp .L604 7430 .L596: 7431 3f56 81E0 ldi r24,lo8(1) 7432 3f58 8093 0000 sts last_r_n.18,r24 7433 3f5c 00C0 rjmp .L604 7434 .L595: 7435 3f5e 1092 0000 sts last_r_n.18,__zero_reg__ 7436 3f62 00C0 rjmp .L604 7437 .L584: 7438 3f64 1092 0000 sts (cnt.14)+1,__zero_reg__ 7439 3f68 1092 0000 sts cnt.14,__zero_reg__ 7440 3f6c 84E6 ldi r24,lo8(100) 7441 3f6e 90E0 ldi r25,hi8(100) 7442 3f70 9093 0000 sts (KompassSignalSchlecht)+1,r25 7443 3f74 8093 0000 sts KompassSignalSchlecht,r24 7444 .L604: 7445 3f78 4889 ldd r20,Y+16 7446 3f7a 242F mov r18,r20 7447 3f7c 3327 clr r19 7448 3f7e 8091 0000 lds r24,cnt.14 7449 3f82 9091 0000 lds r25,(cnt.14)+1 7450 3f86 2817 cp r18,r24 7451 3f88 3907 cpc r19,r25 7452 3f8a 04F4 brge .L605 7453 3f8c 3093 0000 sts (cnt.14)+1,r19 7454 3f90 2093 0000 sts cnt.14,r18 7455 .L605: 7456 3f94 8091 0000 lds r24,FromNaviCtrl_Value+1 7457 3f98 8823 tst r24 7458 3f9a 01F0 breq .L606 7459 3f9c 282F mov r18,r24 7460 3f9e 3327 clr r19 7461 3fa0 27FD sbrc r18,7 7462 3fa2 3095 com r19 7463 3fa4 8091 0000 lds r24,cnt.14 7464 3fa8 9091 0000 lds r25,(cnt.14)+1 7465 3fac 2817 cp r18,r24 7466 3fae 3907 cpc r19,r25 7467 3fb0 04F4 brge .L606 7468 3fb2 3093 0000 sts (cnt.14)+1,r19 7469 3fb6 2093 0000 sts cnt.14,r18 7470 .L606: 7471 3fba 4091 0000 lds r20,IntegralFehlerRoll.4 7472 3fbe 5091 0000 lds r21,(IntegralFehlerRoll.4)+1 7473 3fc2 6091 0000 lds r22,(IntegralFehlerRoll.4)+2 7474 3fc6 7091 0000 lds r23,(IntegralFehlerRoll.4)+3 7475 3fca 4138 cpi r20,lo8(129) 7476 3fcc 5105 cpc r21,__zero_reg__ 7477 3fce 6105 cpc r22,__zero_reg__ 7478 3fd0 7105 cpc r23,__zero_reg__ 7479 3fd2 04F0 brlt .L608 7480 3fd4 8091 0000 lds r24,AdNeutralRoll 7481 3fd8 9091 0000 lds r25,(AdNeutralRoll)+1 7482 3fdc 2091 0000 lds r18,cnt.14 7483 3fe0 3091 0000 lds r19,(cnt.14)+1 7484 3fe4 820F add r24,r18 7485 3fe6 931F adc r25,r19 7486 3fe8 9093 0000 sts (AdNeutralRoll)+1,r25 7487 3fec 8093 0000 sts AdNeutralRoll,r24 7488 .L608: 7489 3ff0 4058 subi r20,lo8(-128) 7490 3ff2 5F4F sbci r21,hi8(-128) 7491 3ff4 6F4F sbci r22,hlo8(-128) 7492 3ff6 7F4F sbci r23,hhi8(-128) 7493 3ff8 04F4 brge .L610 7494 3ffa 8091 0000 lds r24,AdNeutralRoll 7495 3ffe 9091 0000 lds r25,(AdNeutralRoll)+1 7496 4002 2091 0000 lds r18,cnt.14 7497 4006 3091 0000 lds r19,(cnt.14)+1 7498 400a 821B sub r24,r18 7499 400c 930B sbc r25,r19 7500 400e 9093 0000 sts (AdNeutralRoll)+1,r25 7501 4012 8093 0000 sts AdNeutralRoll,r24 7502 4016 00C0 rjmp .L610 7503 .L536: 7504 4018 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ 7505 401c 1092 0000 sts LageKorrekturRoll,__zero_reg__ 7506 4020 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ 7507 4024 1092 0000 sts LageKorrekturNick,__zero_reg__ 7508 4028 1092 0000 sts TrichterFlug,__zero_reg__ 7509 .L610: 7510 402c 8091 0000 lds r24,IntegralFaktor 7511 4030 8823 tst r24 7512 4032 01F4 brne .L611 7513 4034 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ 7514 4038 1092 0000 sts LageKorrekturRoll,__zero_reg__ 7515 403c 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ 7516 4040 1092 0000 sts LageKorrekturNick,__zero_reg__ 7517 .L611: 7518 4044 8091 0000 lds r24,MittelIntegralNick 7519 4048 9091 0000 lds r25,(MittelIntegralNick)+1 7520 404c A091 0000 lds r26,(MittelIntegralNick)+2 7521 4050 B091 0000 lds r27,(MittelIntegralNick)+3 7522 4054 8093 0000 sts MittelIntegralNick_Alt.19,r24 7523 4058 9093 0000 sts (MittelIntegralNick_Alt.19)+1,r25 7524 405c A093 0000 sts (MittelIntegralNick_Alt.19)+2,r26 7525 4060 B093 0000 sts (MittelIntegralNick_Alt.19)+3,r27 7526 4064 8091 0000 lds r24,MittelIntegralRoll 7527 4068 9091 0000 lds r25,(MittelIntegralRoll)+1 7528 406c A091 0000 lds r26,(MittelIntegralRoll)+2 7529 4070 B091 0000 lds r27,(MittelIntegralRoll)+3 7530 4074 8093 0000 sts MittelIntegralRoll_Alt.20,r24 7531 4078 9093 0000 sts (MittelIntegralRoll_Alt.20)+1,r25 7532 407c A093 0000 sts (MittelIntegralRoll_Alt.20)+2,r26 7533 4080 B093 0000 sts (MittelIntegralRoll_Alt.20)+3,r27 7534 4084 1092 0000 sts IntegralAccNick,__zero_reg__ 7535 4088 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ 7536 408c 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ 7537 4090 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ 7538 4094 1092 0000 sts IntegralAccRoll,__zero_reg__ 7539 4098 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ 7540 409c 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ 7541 40a0 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ 7542 40a4 1092 0000 sts IntegralAccZ,__zero_reg__ 7543 40a8 1092 0000 sts (IntegralAccZ)+1,__zero_reg__ 7544 40ac 1092 0000 sts (IntegralAccZ)+2,__zero_reg__ 7545 40b0 1092 0000 sts (IntegralAccZ)+3,__zero_reg__ 7546 40b4 1092 0000 sts MittelIntegralNick,__zero_reg__ 7547 40b8 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ 7548 40bc 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ 7549 40c0 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ 7550 40c4 1092 0000 sts MittelIntegralRoll,__zero_reg__ 7551 40c8 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ 7552 40cc 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ 7553 40d0 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ 7554 40d4 1092 0000 sts MittelIntegralNick2,__zero_reg__ 7555 40d8 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ 7556 40dc 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ 7557 40e0 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ 7558 40e4 1092 0000 sts MittelIntegralRoll2,__zero_reg__ 7559 40e8 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ 7560 40ec 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ 7561 40f0 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ 7562 40f4 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ 7563 40f8 1092 0000 sts ZaehlMessungen,__zero_reg__ 7564 .L535: 7565 40fc E090 0000 lds r14,StickGier 7566 4100 F090 0000 lds r15,(StickGier)+1 7567 4104 C701 movw r24,r14 7568 4106 F7FE sbrs r15,7 7569 4108 00C0 rjmp .L613 7570 410a 8827 clr r24 7571 410c 9927 clr r25 7572 410e 8E19 sub r24,r14 7573 4110 9F09 sbc r25,r15 7574 .L613: 7575 4112 0497 sbiw r24,4 7576 4114 04F0 brlt .L612 7577 4116 8091 0000 lds r24,Parameter_GlobalConfig 7578 411a 84FD sbrc r24,4 7579 411c 00C0 rjmp .L612 7580 411e 82E3 ldi r24,lo8(50) 7581 4120 8093 0000 sts NeueKompassRichtungMerken,r24 7582 .L612: 7583 4124 1091 0000 lds r17,EE_Parameter+25 7584 4128 A12E mov r10,r17 7585 412a BB24 clr r11 7586 412c CC24 clr r12 7587 412e DD24 clr r13 7588 4130 B701 movw r22,r14 7589 4132 8827 clr r24 7590 4134 77FD sbrc r23,7 7591 4136 8095 com r24 7592 4138 982F mov r25,r24 7593 413a 9701 movw r18,r14 7594 413c F7FE sbrs r15,7 7595 413e 00C0 rjmp .L615 7596 4140 2227 clr r18 7597 4142 3327 clr r19 7598 4144 2E19 sub r18,r14 7599 4146 3F09 sbc r19,r15 7600 .L615: 7601 4148 4427 clr r20 7602 414a 37FD sbrc r19,7 7603 414c 4095 com r20 7604 414e 542F mov r21,r20 7605 4150 0E94 0000 call __mulsi3 7606 4154 9B01 movw r18,r22 7607 4156 AC01 movw r20,r24 7608 4158 C601 movw r24,r12 7609 415a B501 movw r22,r10 7610 415c 0E94 0000 call __mulsi3 7611 4160 97FF sbrs r25,7 7612 4162 00C0 rjmp .L616 7613 4164 6150 subi r22,lo8(-(511)) 7614 4166 7E4F sbci r23,hi8(-(511)) 7615 4168 8F4F sbci r24,hlo8(-(511)) 7616 416a 9F4F sbci r25,hhi8(-(511)) 7617 .L616: 7618 416c 59E0 ldi r21,9 7619 416e 9595 1: asr r25 7620 4170 8795 ror r24 7621 4172 7795 ror r23 7622 4174 6795 ror r22 7623 4176 5A95 dec r21 7624 4178 01F4 brne 1b 7625 417a 9B01 movw r18,r22 7626 417c 812F mov r24,r17 7627 417e 9927 clr r25 7628 4180 8E9D mul r24,r14 7629 4182 D001 movw r26,r0 7630 4184 8F9D mul r24,r15 7631 4186 B00D add r27,r0 7632 4188 9E9D mul r25,r14 7633 418a B00D add r27,r0 7634 418c 1124 clr r1 7635 418e CD01 movw r24,r26 7636 4190 B7FD sbrc r27,7 7637 4192 0396 adiw r24,3 7638 .L617: 7639 4194 9595 asr r25 7640 4196 8795 ror r24 7641 4198 9595 asr r25 7642 419a 8795 ror r24 7643 419c 280F add r18,r24 7644 419e 391F adc r19,r25 7645 41a0 8091 0000 lds r24,CompassGierSetpoint 7646 41a4 9091 0000 lds r25,(CompassGierSetpoint)+1 7647 41a8 280F add r18,r24 7648 41aa 391F adc r19,r25 7649 41ac 4427 clr r20 7650 41ae 37FD sbrc r19,7 7651 41b0 4095 com r20 7652 41b2 542F mov r21,r20 7653 41b4 2093 0000 sts sollGier.0,r18 7654 41b8 3093 0000 sts (sollGier.0)+1,r19 7655 41bc 4093 0000 sts (sollGier.0)+2,r20 7656 41c0 5093 0000 sts (sollGier.0)+3,r21 7657 41c4 8091 0000 lds r24,Mess_Integral_Gier 7658 41c8 9091 0000 lds r25,(Mess_Integral_Gier)+1 7659 41cc A091 0000 lds r26,(Mess_Integral_Gier)+2 7660 41d0 B091 0000 lds r27,(Mess_Integral_Gier)+3 7661 41d4 821B sub r24,r18 7662 41d6 930B sbc r25,r19 7663 41d8 A40B sbc r26,r20 7664 41da B50B sbc r27,r21 7665 41dc 8093 0000 sts Mess_Integral_Gier,r24 7666 41e0 9093 0000 sts (Mess_Integral_Gier)+1,r25 7667 41e4 A093 0000 sts (Mess_Integral_Gier)+2,r26 7668 41e8 B093 0000 sts (Mess_Integral_Gier)+3,r27 7669 41ec 8155 subi r24,lo8(50001) 7670 41ee 934C sbci r25,hi8(50001) 7671 41f0 A040 sbci r26,hlo8(50001) 7672 41f2 B040 sbci r27,hhi8(50001) 7673 41f4 04F0 brlt .L618 7674 41f6 80E5 ldi r24,lo8(50000) 7675 41f8 93EC ldi r25,hi8(50000) 7676 41fa A0E0 ldi r26,hlo8(50000) 7677 41fc B0E0 ldi r27,hhi8(50000) 7678 41fe 8093 0000 sts Mess_Integral_Gier,r24 7679 4202 9093 0000 sts (Mess_Integral_Gier)+1,r25 7680 4206 A093 0000 sts (Mess_Integral_Gier)+2,r26 7681 420a B093 0000 sts (Mess_Integral_Gier)+3,r27 7682 .L618: 7683 420e 8091 0000 lds r24,Mess_Integral_Gier 7684 4212 9091 0000 lds r25,(Mess_Integral_Gier)+1 7685 4216 A091 0000 lds r26,(Mess_Integral_Gier)+2 7686 421a B091 0000 lds r27,(Mess_Integral_Gier)+3 7687 421e 805B subi r24,lo8(-50000) 7688 4220 9C43 sbci r25,hi8(-50000) 7689 4222 AF4F sbci r26,hlo8(-50000) 7690 4224 BF4F sbci r27,hhi8(-50000) 7691 4226 04F4 brge .L619 7692 4228 80EB ldi r24,lo8(-50000) 7693 422a 9CE3 ldi r25,hi8(-50000) 7694 422c AFEF ldi r26,hlo8(-50000) 7695 422e BFEF ldi r27,hhi8(-50000) 7696 4230 8093 0000 sts Mess_Integral_Gier,r24 7697 4234 9093 0000 sts (Mess_Integral_Gier)+1,r25 7698 4238 A093 0000 sts (Mess_Integral_Gier)+2,r26 7699 423c B093 0000 sts (Mess_Integral_Gier)+3,r27 7700 .L619: 7701 4240 0091 0000 lds r16,KompassValue 7702 4244 1091 0000 lds r17,(KompassValue)+1 7703 4248 17FD sbrc r17,7 7704 424a 00C0 rjmp .L620 7705 424c 8091 0000 lds r24,Parameter_GlobalConfig 7706 4250 83FF sbrs r24,3 7707 4252 00C0 rjmp .L620 7708 4254 8091 0000 lds r24,CalculateCompassTimer 7709 4258 8150 subi r24,lo8(-(-1)) 7710 425a 8093 0000 sts CalculateCompassTimer,r24 7711 425e 8823 tst r24 7712 4260 01F0 breq .+2 7713 4262 00C0 rjmp .L637 7714 4264 8DE0 ldi r24,lo8(13) 7715 4266 8093 0000 sts CalculateCompassTimer,r24 7716 426a 8091 0000 lds r24,IntegralNick 7717 426e 9091 0000 lds r25,(IntegralNick)+1 7718 4272 A091 0000 lds r26,(IntegralNick)+2 7719 4276 B091 0000 lds r27,(IntegralNick)+3 7720 427a B7FF sbrs r27,7 7721 427c 00C0 rjmp .L622 7722 427e 8150 subi r24,lo8(-(511)) 7723 4280 9E4F sbci r25,hi8(-(511)) 7724 4282 AF4F sbci r26,hlo8(-(511)) 7725 4284 BF4F sbci r27,hhi8(-(511)) 7726 .L622: 7727 4286 39E0 ldi r19,9 7728 4288 B595 1: asr r27 7729 428a A795 ror r26 7730 428c 9795 ror r25 7731 428e 8795 ror r24 7732 4290 3A95 dec r19 7733 4292 01F4 brne 1b 7734 4294 7C01 movw r14,r24 7735 4296 97FF sbrs r25,7 7736 4298 00C0 rjmp .L623 7737 429a F094 com r15 7738 429c E194 neg r14 7739 429e F108 sbc r15,__zero_reg__ 7740 42a0 F394 inc r15 7741 .L623: 7742 42a2 8091 0000 lds r24,IntegralRoll 7743 42a6 9091 0000 lds r25,(IntegralRoll)+1 7744 42aa A091 0000 lds r26,(IntegralRoll)+2 7745 42ae B091 0000 lds r27,(IntegralRoll)+3 7746 42b2 B7FF sbrs r27,7 7747 42b4 00C0 rjmp .L624 7748 42b6 8150 subi r24,lo8(-(511)) 7749 42b8 9E4F sbci r25,hi8(-(511)) 7750 42ba AF4F sbci r26,hlo8(-(511)) 7751 42bc BF4F sbci r27,hhi8(-(511)) 7752 .L624: 7753 42be 29E0 ldi r18,9 7754 42c0 B595 1: asr r27 7755 42c2 A795 ror r26 7756 42c4 9795 ror r25 7757 42c6 8795 ror r24 7758 42c8 2A95 dec r18 7759 42ca 01F4 brne 1b 7760 42cc 9C01 movw r18,r24 7761 42ce 97FF sbrs r25,7 7762 42d0 00C0 rjmp .L625 7763 42d2 3095 com r19 7764 42d4 2195 neg r18 7765 42d6 3F4F sbci r19,lo8(-1) 7766 .L625: 7767 42d8 E216 cp r14,r18 7768 42da F306 cpc r15,r19 7769 42dc 04F4 brge .L626 7770 42de 7901 movw r14,r18 7771 .L626: 7772 42e0 B701 movw r22,r14 7773 42e2 F7FE sbrs r15,7 7774 42e4 00C0 rjmp .L627 7775 42e6 695F subi r22,lo8(-(7)) 7776 42e8 7F4F sbci r23,hi8(-(7)) 7777 .L627: 7778 42ea 2B01 movw r4,r22 7779 42ec A3E0 ldi r26,3 7780 42ee 5594 1: asr r5 7781 42f0 4794 ror r4 7782 42f2 AA95 dec r26 7783 42f4 01F4 brne 1b 7784 42f6 22E0 ldi r18,lo8(2) 7785 42f8 30E0 ldi r19,hi8(2) 7786 42fa 420E add r4,r18 7787 42fc 531E adc r5,r19 7788 42fe 6090 0000 lds r6,ErsatzKompass 7789 4302 7090 0000 lds r7,(ErsatzKompass)+1 7790 4306 8090 0000 lds r8,(ErsatzKompass)+2 7791 430a 9090 0000 lds r9,(ErsatzKompass)+3 7792 430e 2091 0000 lds r18,GIER_GRAD_FAKTOR 7793 4312 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 7794 4316 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 7795 431a 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 7796 431e C401 movw r24,r8 7797 4320 B301 movw r22,r6 7798 4322 0E94 0000 call __divmodsi4 7799 4326 5901 movw r10,r18 7800 4328 6A01 movw r12,r20 7801 432a 3093 0000 sts (ErsatzKompassInGrad)+1,r19 7802 432e 2093 0000 sts ErsatzKompassInGrad,r18 7803 4332 021B sub r16,r18 7804 4334 130B sbc r17,r19 7805 4336 C801 movw r24,r16 7806 4338 845E subi r24,lo8(-(540)) 7807 433a 9D4F sbci r25,hi8(-(540)) 7808 433c 68E6 ldi r22,lo8(360) 7809 433e 71E0 ldi r23,hi8(360) 7810 4340 0E94 0000 call __divmodhi4 7811 4344 9C01 movw r18,r24 7812 4346 245B subi r18,lo8(-(-180)) 7813 4348 3040 sbci r19,hi8(-(-180)) 7814 434a 8091 0000 lds r24,KompassSignalSchlecht 7815 434e 9091 0000 lds r25,(KompassSignalSchlecht)+1 7816 4352 0097 sbiw r24,0 7817 4354 01F0 breq .L628 7818 4356 0197 sbiw r24,1 7819 4358 9093 0000 sts (KompassSignalSchlecht)+1,r25 7820 435c 8093 0000 sts KompassSignalSchlecht,r24 7821 4360 00C0 rjmp .L629 7822 .L628: 7823 4362 49E1 ldi r20,lo8(25) 7824 4364 E416 cp r14,r20 7825 4366 F104 cpc r15,__zero_reg__ 7826 4368 04F4 brge .L629 7827 436a 8091 0000 lds r24,GierGyroFehler 7828 436e 9091 0000 lds r25,(GierGyroFehler)+1 7829 4372 820F add r24,r18 7830 4374 931F adc r25,r19 7831 4376 9093 0000 sts (GierGyroFehler)+1,r25 7832 437a 8093 0000 sts GierGyroFehler,r24 7833 437e 8091 0000 lds r24,NeueKompassRichtungMerken 7834 4382 8823 tst r24 7835 4384 01F0 breq .L629 7836 4386 8150 subi r24,lo8(-(-1)) 7837 4388 8093 0000 sts NeueKompassRichtungMerken,r24 7838 438c 8823 tst r24 7839 438e 01F4 brne .L629 7840 4390 B092 0000 sts (KompassSollWert)+1,r11 7841 4394 A092 0000 sts KompassSollWert,r10 7842 .L629: 7843 4398 8091 0000 lds r24,KompassSignalSchlecht 7844 439c 9091 0000 lds r25,(KompassSignalSchlecht)+1 7845 43a0 892B or r24,r25 7846 43a2 01F4 brne .L633 7847 43a4 8091 0000 lds r24,KompassFusion 7848 43a8 9927 clr r25 7849 43aa 289F mul r18,r24 7850 43ac B001 movw r22,r0 7851 43ae 299F mul r18,r25 7852 43b0 700D add r23,r0 7853 43b2 389F mul r19,r24 7854 43b4 700D add r23,r0 7855 43b6 1124 clr r1 7856 43b8 CB01 movw r24,r22 7857 43ba B201 movw r22,r4 7858 43bc 0E94 0000 call __divmodhi4 7859 43c0 CB01 movw r24,r22 7860 43c2 AA27 clr r26 7861 43c4 97FD sbrc r25,7 7862 43c6 A095 com r26 7863 43c8 BA2F mov r27,r26 7864 43ca 680E add r6,r24 7865 43cc 791E adc r7,r25 7866 43ce 8A1E adc r8,r26 7867 43d0 9B1E adc r9,r27 7868 43d2 6092 0000 sts ErsatzKompass,r6 7869 43d6 7092 0000 sts (ErsatzKompass)+1,r7 7870 43da 8092 0000 sts (ErsatzKompass)+2,r8 7871 43de 9092 0000 sts (ErsatzKompass)+3,r9 7872 .L633: 7873 43e2 8091 0000 lds r24,NeueKompassRichtungMerken 7874 43e6 8823 tst r24 7875 43e8 01F4 brne .L620 7876 43ea 8091 0000 lds r24,KompassSollWert 7877 43ee 9091 0000 lds r25,(KompassSollWert)+1 7878 43f2 2091 0000 lds r18,ErsatzKompassInGrad 7879 43f6 3091 0000 lds r19,(ErsatzKompassInGrad)+1 7880 43fa 821B sub r24,r18 7881 43fc 930B sbc r25,r19 7882 43fe 845E subi r24,lo8(-(540)) 7883 4400 9D4F sbci r25,hi8(-(540)) 7884 4402 68E6 ldi r22,lo8(360) 7885 4404 71E0 ldi r23,hi8(360) 7886 4406 0E94 0000 call __divmodhi4 7887 440a 9C01 movw r18,r24 7888 440c 245B subi r18,lo8(-(-180)) 7889 440e 3040 sbci r19,hi8(-(-180)) 7890 4410 8091 0000 lds r24,Parameter_KompassWirkung 7891 4414 8695 lsr r24 7892 4416 9927 clr r25 7893 4418 289F mul r18,r24 7894 441a D001 movw r26,r0 7895 441c 299F mul r18,r25 7896 441e B00D add r27,r0 7897 4420 389F mul r19,r24 7898 4422 B00D add r27,r0 7899 4424 1124 clr r1 7900 4426 9D01 movw r18,r26 7901 4428 B7FF sbrs r27,7 7902 442a 00C0 rjmp .L635 7903 442c 215F subi r18,lo8(-(15)) 7904 442e 3F4F sbci r19,hi8(-(15)) 7905 .L635: 7906 4430 F4E0 ldi r31,4 7907 4432 3595 1: asr r19 7908 4434 2795 ror r18 7909 4436 FA95 dec r31 7910 4438 01F4 brne 1b 7911 443a 3093 0000 sts (CompassGierSetpoint)+1,r19 7912 443e 2093 0000 sts CompassGierSetpoint,r18 7913 4442 00C0 rjmp .L637 7914 .L620: 7915 4444 1092 0000 sts (CompassGierSetpoint)+1,__zero_reg__ 7916 4448 1092 0000 sts CompassGierSetpoint,__zero_reg__ 7917 .L637: 7918 444c 8091 0000 lds r24,TrichterFlug 7919 4450 8823 tst r24 7920 4452 01F0 breq .L638 7921 4454 1092 0000 sts SummeRoll,__zero_reg__ 7922 4458 1092 0000 sts (SummeRoll)+1,__zero_reg__ 7923 445c 1092 0000 sts (SummeRoll)+2,__zero_reg__ 7924 4460 1092 0000 sts (SummeRoll)+3,__zero_reg__ 7925 4464 1092 0000 sts SummeNick,__zero_reg__ 7926 4468 1092 0000 sts (SummeNick)+1,__zero_reg__ 7927 446c 1092 0000 sts (SummeNick)+2,__zero_reg__ 7928 4470 1092 0000 sts (SummeNick)+3,__zero_reg__ 7929 .L638: 7930 4474 F090 0000 lds r15,Looping_Nick 7931 4478 FF20 tst r15 7932 447a 01F4 brne .L639 7933 447c 8091 0000 lds r24,IntegralFaktor 7934 4480 282F mov r18,r24 7935 4482 3327 clr r19 7936 4484 4427 clr r20 7937 4486 5527 clr r21 7938 4488 8091 0000 lds r24,IntegralNick 7939 448c 9091 0000 lds r25,(IntegralNick)+1 7940 4490 A091 0000 lds r26,(IntegralNick)+2 7941 4494 B091 0000 lds r27,(IntegralNick)+3 7942 4498 BC01 movw r22,r24 7943 449a CD01 movw r24,r26 7944 449c 0E94 0000 call __mulsi3 7945 44a0 DC01 movw r26,r24 7946 44a2 CB01 movw r24,r22 7947 44a4 BC01 movw r22,r24 7948 44a6 CD01 movw r24,r26 7949 44a8 28EF ldi r18,lo8(11000) 7950 44aa 3AE2 ldi r19,hi8(11000) 7951 44ac 40E0 ldi r20,hlo8(11000) 7952 44ae 50E0 ldi r21,hhi8(11000) 7953 44b0 0E94 0000 call __divmodsi4 7954 44b4 3901 movw r6,r18 7955 44b6 00C0 rjmp .L640 7956 .L639: 7957 44b8 6624 clr r6 7958 44ba 7724 clr r7 7959 .L640: 7960 44bc E090 0000 lds r14,Looping_Roll 7961 44c0 EE20 tst r14 7962 44c2 01F4 brne .L641 7963 44c4 8091 0000 lds r24,IntegralFaktor 7964 44c8 282F mov r18,r24 7965 44ca 3327 clr r19 7966 44cc 4427 clr r20 7967 44ce 5527 clr r21 7968 44d0 8091 0000 lds r24,IntegralRoll 7969 44d4 9091 0000 lds r25,(IntegralRoll)+1 7970 44d8 A091 0000 lds r26,(IntegralRoll)+2 7971 44dc B091 0000 lds r27,(IntegralRoll)+3 7972 44e0 BC01 movw r22,r24 7973 44e2 CD01 movw r24,r26 7974 44e4 0E94 0000 call __mulsi3 7975 44e8 DC01 movw r26,r24 7976 44ea CB01 movw r24,r22 7977 44ec BC01 movw r22,r24 7978 44ee CD01 movw r24,r26 7979 44f0 28EF ldi r18,lo8(11000) 7980 44f2 3AE2 ldi r19,hi8(11000) 7981 44f4 40E0 ldi r20,hlo8(11000) 7982 44f6 50E0 ldi r21,hhi8(11000) 7983 44f8 0E94 0000 call __divmodsi4 7984 44fc 2901 movw r4,r18 7985 44fe 00C0 rjmp .L642 7986 .L641: 7987 4500 4424 clr r4 7988 4502 5524 clr r5 7989 .L642: 7990 4504 8091 0000 lds r24,TrimNick 7991 4508 9091 0000 lds r25,(TrimNick)+1 7992 450c 893C cpi r24,201 7993 450e 9105 cpc r25,__zero_reg__ 7994 4510 04F0 brlt .L643 7995 4512 88EC ldi r24,lo8(200) 7996 4514 90E0 ldi r25,hi8(200) 7997 4516 00C0 rjmp .L900 7998 .L643: 7999 4518 8853 subi r24,lo8(-200) 8000 451a 9F4F sbci r25,hi8(-200) 8001 451c 04F4 brge .L644 8002 451e 88E3 ldi r24,lo8(-200) 8003 4520 9FEF ldi r25,hi8(-200) 8004 .L900: 8005 4522 9093 0000 sts (TrimNick)+1,r25 8006 4526 8093 0000 sts TrimNick,r24 8007 .L644: 8008 452a 8091 0000 lds r24,TrimRoll 8009 452e 9091 0000 lds r25,(TrimRoll)+1 8010 4532 893C cpi r24,201 8011 4534 9105 cpc r25,__zero_reg__ 8012 4536 04F0 brlt .L646 8013 4538 88EC ldi r24,lo8(200) 8014 453a 90E0 ldi r25,hi8(200) 8015 453c 00C0 rjmp .L901 8016 .L646: 8017 453e 8853 subi r24,lo8(-200) 8018 4540 9F4F sbci r25,hi8(-200) 8019 4542 04F4 brge .L647 8020 4544 88E3 ldi r24,lo8(-200) 8021 4546 9FEF ldi r25,hi8(-200) 8022 .L901: 8023 4548 9093 0000 sts (TrimRoll)+1,r25 8024 454c 8093 0000 sts TrimRoll,r24 8025 .L647: 8026 4550 8091 0000 lds r24,MesswertNick 8027 4554 9091 0000 lds r25,(MesswertNick)+1 8028 4558 AA27 clr r26 8029 455a 97FD sbrc r25,7 8030 455c A095 com r26 8031 455e BA2F mov r27,r26 8032 4560 2091 0000 lds r18,GyroFaktor 8033 4564 A22E mov r10,r18 8034 4566 BB24 clr r11 8035 4568 CC24 clr r12 8036 456a DD24 clr r13 8037 456c BC01 movw r22,r24 8038 456e CD01 movw r24,r26 8039 4570 A601 movw r20,r12 8040 4572 9501 movw r18,r10 8041 4574 0E94 0000 call __mulsi3 8042 4578 9B01 movw r18,r22 8043 457a AC01 movw r20,r24 8044 457c 8091 0000 lds r24,TrimNick 8045 4580 9091 0000 lds r25,(TrimNick)+1 8046 4584 AA27 clr r26 8047 4586 97FD sbrc r25,7 8048 4588 A095 com r26 8049 458a BA2F mov r27,r26 8050 458c E7E0 ldi r30,7 8051 458e 880F 1: lsl r24 8052 4590 991F rol r25 8053 4592 AA1F rol r26 8054 4594 BB1F rol r27 8055 4596 EA95 dec r30 8056 4598 01F4 brne 1b 8057 459a 280F add r18,r24 8058 459c 391F adc r19,r25 8059 459e 4A1F adc r20,r26 8060 45a0 5B1F adc r21,r27 8061 45a2 57FF sbrs r21,7 8062 45a4 00C0 rjmp .L649 8063 45a6 215C subi r18,lo8(-(63)) 8064 45a8 3F4F sbci r19,hi8(-(63)) 8065 45aa 4F4F sbci r20,hlo8(-(63)) 8066 45ac 5F4F sbci r21,hhi8(-(63)) 8067 .L649: 8068 45ae 76E0 ldi r23,6 8069 45b0 5595 1: asr r21 8070 45b2 4795 ror r20 8071 45b4 3795 ror r19 8072 45b6 2795 ror r18 8073 45b8 7A95 dec r23 8074 45ba 01F4 brne 1b 8075 45bc 8301 movw r16,r6 8076 45be 020F add r16,r18 8077 45c0 131F adc r17,r19 8078 45c2 1093 0000 sts (MesswertNick)+1,r17 8079 45c6 0093 0000 sts MesswertNick,r16 8080 45ca 8091 0000 lds r24,MesswertRoll 8081 45ce 9091 0000 lds r25,(MesswertRoll)+1 8082 45d2 AA27 clr r26 8083 45d4 97FD sbrc r25,7 8084 45d6 A095 com r26 8085 45d8 BA2F mov r27,r26 8086 45da BC01 movw r22,r24 8087 45dc CD01 movw r24,r26 8088 45de A601 movw r20,r12 8089 45e0 9501 movw r18,r10 8090 45e2 0E94 0000 call __mulsi3 8091 45e6 9B01 movw r18,r22 8092 45e8 AC01 movw r20,r24 8093 45ea 8091 0000 lds r24,TrimRoll 8094 45ee 9091 0000 lds r25,(TrimRoll)+1 8095 45f2 AA27 clr r26 8096 45f4 97FD sbrc r25,7 8097 45f6 A095 com r26 8098 45f8 BA2F mov r27,r26 8099 45fa 67E0 ldi r22,7 8100 45fc 880F 1: lsl r24 8101 45fe 991F rol r25 8102 4600 AA1F rol r26 8103 4602 BB1F rol r27 8104 4604 6A95 dec r22 8105 4606 01F4 brne 1b 8106 4608 280F add r18,r24 8107 460a 391F adc r19,r25 8108 460c 4A1F adc r20,r26 8109 460e 5B1F adc r21,r27 8110 4610 57FF sbrs r21,7 8111 4612 00C0 rjmp .L650 8112 4614 215C subi r18,lo8(-(63)) 8113 4616 3F4F sbci r19,hi8(-(63)) 8114 4618 4F4F sbci r20,hlo8(-(63)) 8115 461a 5F4F sbci r21,hhi8(-(63)) 8116 .L650: 8117 461c F6E0 ldi r31,6 8118 461e 5595 1: asr r21 8119 4620 4795 ror r20 8120 4622 3795 ror r19 8121 4624 2795 ror r18 8122 4626 FA95 dec r31 8123 4628 01F4 brne 1b 8124 462a 4201 movw r8,r4 8125 462c 820E add r8,r18 8126 462e 931E adc r9,r19 8127 4630 9092 0000 sts (MesswertRoll)+1,r9 8128 4634 8092 0000 sts MesswertRoll,r8 8129 4638 8091 0000 lds r24,MesswertGier 8130 463c 9091 0000 lds r25,(MesswertGier)+1 8131 4640 880F add r24,r24 8132 4642 991F adc r25,r25 8133 4644 AA27 clr r26 8134 4646 97FD sbrc r25,7 8135 4648 A095 com r26 8136 464a BA2F mov r27,r26 8137 464c 2091 0000 lds r18,GyroFaktorGier 8138 4650 3327 clr r19 8139 4652 4427 clr r20 8140 4654 5527 clr r21 8141 4656 BC01 movw r22,r24 8142 4658 CD01 movw r24,r26 8143 465a 0E94 0000 call __mulsi3 8144 465e 5B01 movw r10,r22 8145 4660 6C01 movw r12,r24 8146 4662 97FF sbrs r25,7 8147 4664 00C0 rjmp .L651 8148 4666 2FE3 ldi r18,lo8(63) 8149 4668 30E0 ldi r19,hi8(63) 8150 466a 40E0 ldi r20,hlo8(63) 8151 466c 50E0 ldi r21,hhi8(63) 8152 466e A20E add r10,r18 8153 4670 B31E adc r11,r19 8154 4672 C41E adc r12,r20 8155 4674 D51E adc r13,r21 8156 .L651: 8157 4676 E6E0 ldi r30,6 8158 4678 D594 1: asr r13 8159 467a C794 ror r12 8160 467c B794 ror r11 8161 467e A794 ror r10 8162 4680 EA95 dec r30 8163 4682 01F4 brne 1b 8164 4684 8091 0000 lds r24,IntegralFaktorGier 8165 4688 282F mov r18,r24 8166 468a 3327 clr r19 8167 468c 4427 clr r20 8168 468e 5527 clr r21 8169 4690 8091 0000 lds r24,Integral_Gier 8170 4694 9091 0000 lds r25,(Integral_Gier)+1 8171 4698 A091 0000 lds r26,(Integral_Gier)+2 8172 469c B091 0000 lds r27,(Integral_Gier)+3 8173 46a0 BC01 movw r22,r24 8174 46a2 CD01 movw r24,r26 8175 46a4 0E94 0000 call __mulsi3 8176 46a8 DC01 movw r26,r24 8177 46aa CB01 movw r24,r22 8178 46ac BC01 movw r22,r24 8179 46ae CD01 movw r24,r26 8180 46b0 20EF ldi r18,lo8(22000) 8181 46b2 35E5 ldi r19,hi8(22000) 8182 46b4 40E0 ldi r20,hlo8(22000) 8183 46b6 50E0 ldi r21,hhi8(22000) 8184 46b8 0E94 0000 call __divmodsi4 8185 46bc B501 movw r22,r10 8186 46be 620F add r22,r18 8187 46c0 731F adc r23,r19 8188 46c2 7093 0000 sts (MesswertGier)+1,r23 8189 46c6 6093 0000 sts MesswertGier,r22 8190 46ca 0150 subi r16,lo8(4097) 8191 46cc 1041 sbci r17,hi8(4097) 8192 46ce 04F0 brlt .L652 8193 46d0 80E0 ldi r24,lo8(4096) 8194 46d2 90E1 ldi r25,hi8(4096) 8195 46d4 9093 0000 sts (MesswertNick)+1,r25 8196 46d8 8093 0000 sts MesswertNick,r24 8197 .L652: 8198 46dc 8091 0000 lds r24,MesswertNick 8199 46e0 9091 0000 lds r25,(MesswertNick)+1 8200 46e4 8050 subi r24,lo8(-4096) 8201 46e6 904F sbci r25,hi8(-4096) 8202 46e8 04F4 brge .L653 8203 46ea 80E0 ldi r24,lo8(-4096) 8204 46ec 90EF ldi r25,hi8(-4096) 8205 46ee 9093 0000 sts (MesswertNick)+1,r25 8206 46f2 8093 0000 sts MesswertNick,r24 8207 .L653: 8208 46f6 51E0 ldi r21,lo8(4097) 8209 46f8 8516 cp r8,r21 8210 46fa 50E1 ldi r21,hi8(4097) 8211 46fc 9506 cpc r9,r21 8212 46fe 04F0 brlt .L654 8213 4700 80E0 ldi r24,lo8(4096) 8214 4702 90E1 ldi r25,hi8(4096) 8215 4704 9093 0000 sts (MesswertRoll)+1,r25 8216 4708 8093 0000 sts MesswertRoll,r24 8217 .L654: 8218 470c 8091 0000 lds r24,MesswertRoll 8219 4710 9091 0000 lds r25,(MesswertRoll)+1 8220 4714 8050 subi r24,lo8(-4096) 8221 4716 904F sbci r25,hi8(-4096) 8222 4718 04F4 brge .L655 8223 471a 80E0 ldi r24,lo8(-4096) 8224 471c 90EF ldi r25,hi8(-4096) 8225 471e 9093 0000 sts (MesswertRoll)+1,r25 8226 4722 8093 0000 sts MesswertRoll,r24 8227 .L655: 8228 4726 6150 subi r22,lo8(4097) 8229 4728 7041 sbci r23,hi8(4097) 8230 472a 04F0 brlt .L656 8231 472c 80E0 ldi r24,lo8(4096) 8232 472e 90E1 ldi r25,hi8(4096) 8233 4730 9093 0000 sts (MesswertGier)+1,r25 8234 4734 8093 0000 sts MesswertGier,r24 8235 .L656: 8236 4738 8091 0000 lds r24,MesswertGier 8237 473c 9091 0000 lds r25,(MesswertGier)+1 8238 4740 8050 subi r24,lo8(-4096) 8239 4742 904F sbci r25,hi8(-4096) 8240 4744 04F4 brge .L657 8241 4746 80E0 ldi r24,lo8(-4096) 8242 4748 90EF ldi r25,hi8(-4096) 8243 474a 9093 0000 sts (MesswertGier)+1,r25 8244 474e 8093 0000 sts MesswertGier,r24 8245 .L657: 8246 4752 8091 0000 lds r24,BattLowVoltageWarning 8247 4756 482F mov r20,r24 8248 4758 5527 clr r21 8249 475a 8091 0000 lds r24,UBat 8250 475e 9091 0000 lds r25,(UBat)+1 8251 4762 4817 cp r20,r24 8252 4764 5907 cpc r21,r25 8253 4766 04F4 brge .L658 8254 4768 2091 0000 lds r18,UBat 8255 476c 3091 0000 lds r19,(UBat)+1 8256 4770 0981 ldd r16,Y+1 8257 4772 1A81 ldd r17,Y+2 8258 4774 049F mul r16,r20 8259 4776 C001 movw r24,r0 8260 4778 059F mul r16,r21 8261 477a 900D add r25,r0 8262 477c 149F mul r17,r20 8263 477e 900D add r25,r0 8264 4780 1124 clr r1 8265 4782 B901 movw r22,r18 8266 4784 0E94 0000 call __udivmodhi4 8267 4788 7A83 std Y+2,r23 8268 478a 6983 std Y+1,r22 8269 .L658: 8270 478c 2981 ldd r18,Y+1 8271 478e 3A81 ldd r19,Y+2 8272 4790 220F lsl r18 8273 4792 331F rol r19 8274 4794 220F lsl r18 8275 4796 331F rol r19 8276 4798 3A83 std Y+2,r19 8277 479a 2983 std Y+1,r18 8278 479c 4091 0000 lds r20,Parameter_GlobalConfig 8279 47a0 40FD sbrc r20,0 8280 47a2 00C0 rjmp .+4 8281 47a4 0C94 0000 jmp .L659 8282 47a8 EE20 tst r14 8283 47aa 01F0 breq .+4 8284 47ac 0C94 0000 jmp .L659 8285 47b0 FF20 tst r15 8286 47b2 01F0 breq .+4 8287 47b4 0C94 0000 jmp .L659 8288 47b8 00E0 ldi r16,lo8(0) 8289 47ba 10E0 ldi r17,hi8(0) 8290 47bc 4801 movw r8,r16 8291 47be 8091 0000 lds r24,HoverGas 8292 47c2 9091 0000 lds r25,(HoverGas)+1 8293 47c6 9093 0000 sts (DebugOut+44)+1,r25 8294 47ca 8093 0000 sts DebugOut+44,r24 8295 47ce 2091 0000 lds r18,BaroExpandActive 8296 47d2 3091 0000 lds r19,(BaroExpandActive)+1 8297 47d6 2115 cp r18,__zero_reg__ 8298 47d8 3105 cpc r19,__zero_reg__ 8299 47da 01F0 breq .+2 8300 47dc 00C0 rjmp .L660 8301 47de 8091 0000 lds r24,MessLuftdruck 8302 47e2 9091 0000 lds r25,(MessLuftdruck)+1 8303 47e6 8959 subi r24,lo8(921) 8304 47e8 9340 sbci r25,hi8(921) 8305 47ea 00F0 brlo .L661 8306 47ec 87B5 in r24,71-0x20 8307 47ee 803F cpi r24,lo8(-16) 8308 47f0 00F4 brsh .L662 8309 47f2 8091 0000 lds r24,ExpandBaro 8310 47f6 8150 subi r24,lo8(-(-1)) 8311 47f8 00C0 rjmp .L902 8312 .L662: 8313 47fa 81E0 ldi r24,lo8(1) 8314 47fc 8093 0000 sts BaroAtLowerLimit.26,r24 8315 4800 00C0 rjmp .L669 8316 .L661: 8317 4802 8091 0000 lds r24,MessLuftdruck 8318 4806 9091 0000 lds r25,(MessLuftdruck)+1 8319 480a 8436 cpi r24,100 8320 480c 9105 cpc r25,__zero_reg__ 8321 480e 00F4 brsh .L665 8322 4810 87B5 in r24,71-0x20 8323 4812 8031 cpi r24,lo8(16) 8324 4814 00F0 brlo .L666 8325 4816 8091 0000 lds r24,ExpandBaro 8326 481a 8F5F subi r24,lo8(-(1)) 8327 .L902: 8328 481c 8093 0000 sts ExpandBaro,r24 8329 4820 9FE0 ldi r25,lo8(15) 8330 4822 8902 muls r24,r25 8331 4824 9001 movw r18,r0 8332 4826 1124 clr r1 8333 4828 8091 0000 lds r24,DruckOffsetSetting 8334 482c 821B sub r24,r18 8335 482e 87BD out 71-0x20,r24 8336 4830 8CE2 ldi r24,lo8(300) 8337 4832 91E0 ldi r25,hi8(300) 8338 4834 9093 0000 sts (beeptime)+1,r25 8339 4838 8093 0000 sts beeptime,r24 8340 483c 8EE5 ldi r24,lo8(350) 8341 483e 91E0 ldi r25,hi8(350) 8342 4840 9093 0000 sts (BaroExpandActive)+1,r25 8343 4844 8093 0000 sts BaroExpandActive,r24 8344 4848 00C0 rjmp .L669 8345 .L666: 8346 484a 81E0 ldi r24,lo8(1) 8347 484c 8093 0000 sts BaroAtUpperLimit.25,r24 8348 4850 00C0 rjmp .L669 8349 .L665: 8350 4852 F092 0000 sts BaroAtUpperLimit.25,r15 8351 4856 F092 0000 sts BaroAtLowerLimit.26,r15 8352 485a 00C0 rjmp .L669 8353 .L660: 8354 485c 8091 0000 lds r24,HoehenWert 8355 4860 9091 0000 lds r25,(HoehenWert)+1 8356 4864 A091 0000 lds r26,(HoehenWert)+2 8357 4868 B091 0000 lds r27,(HoehenWert)+3 8358 486c 64E0 ldi r22,4 8359 486e 880F 1: lsl r24 8360 4870 991F rol r25 8361 4872 AA1F rol r26 8362 4874 BB1F rol r27 8363 4876 6A95 dec r22 8364 4878 01F4 brne 1b 8365 487a 8093 0000 sts SummenHoehe,r24 8366 487e 9093 0000 sts (SummenHoehe)+1,r25 8367 4882 A093 0000 sts (SummenHoehe)+2,r26 8368 4886 B093 0000 sts (SummenHoehe)+3,r27 8369 488a 1093 0000 sts (VarioMeter)+1,r17 8370 488e 0093 0000 sts VarioMeter,r16 8371 4892 2150 subi r18,lo8(-(-1)) 8372 4894 3040 sbci r19,hi8(-(-1)) 8373 4896 3093 0000 sts (BaroExpandActive)+1,r19 8374 489a 2093 0000 sts BaroExpandActive,r18 8375 .L669: 8376 489e 2091 0000 lds r18,Parameter_HoehenSchalter 8377 48a2 41FF sbrs r20,1 8378 48a4 00C0 rjmp .L670 8379 48a6 2233 cpi r18,lo8(50) 8380 48a8 00F4 brsh .L671 8381 48aa 8091 0000 lds r24,delay.24 8382 48ae 8150 subi r24,lo8(-(-1)) 8383 48b0 8093 0000 sts delay.24,r24 8384 48b4 8F3F cpi r24,lo8(-1) 8385 48b6 01F0 breq .+2 8386 48b8 00C0 rjmp .L677 8387 48ba 8091 0000 lds r24,SpeakHoTT 8388 48be 8823 tst r24 8389 48c0 01F4 brne .L673 8390 48c2 8091 0000 lds r24,HoehenReglerAktiv 8391 48c6 8823 tst r24 8392 48c8 01F0 breq .L673 8393 48ca 88E2 ldi r24,lo8(40) 8394 48cc 8093 0000 sts SpeakHoTT,r24 8395 .L673: 8396 48d0 1092 0000 sts HoehenReglerAktiv,__zero_reg__ 8397 48d4 8091 0000 lds r24,HoehenWert 8398 48d8 9091 0000 lds r25,(HoehenWert)+1 8399 48dc A091 0000 lds r26,(HoehenWert)+2 8400 48e0 B091 0000 lds r27,(HoehenWert)+3 8401 48e4 8093 0000 sts SollHoehe,r24 8402 48e8 9093 0000 sts (SollHoehe)+1,r25 8403 48ec A093 0000 sts (SollHoehe)+2,r26 8404 48f0 B093 0000 sts (SollHoehe)+3,r27 8405 48f4 81E0 ldi r24,lo8(1) 8406 48f6 8093 0000 sts delay.24,r24 8407 48fa 00C0 rjmp .L677 8408 .L671: 8409 48fc 2734 cpi r18,lo8(71) 8410 48fe 00F0 brlo .L677 8411 4900 8091 0000 lds r24,SpeakHoTT 8412 4904 8823 tst r24 8413 4906 01F4 brne .L676 8414 4908 8091 0000 lds r24,HoehenReglerAktiv 8415 490c 8823 tst r24 8416 490e 01F4 brne .L676 8417 4910 87E2 ldi r24,lo8(39) 8418 4912 8093 0000 sts SpeakHoTT,r24 8419 .L676: 8420 4916 88EC ldi r24,lo8(-56) 8421 4918 8093 0000 sts delay.24,r24 8422 491c 00C0 rjmp .L903 8423 .L670: 8424 491e 8091 0000 lds r24,ExternHoehenValue 8425 4922 9091 0000 lds r25,(ExternHoehenValue)+1 8426 4926 820F add r24,r18 8427 4928 911D adc r25,__zero_reg__ 8428 492a 2091 0000 lds r18,EE_Parameter+18 8429 492e 3327 clr r19 8430 4930 829F mul r24,r18 8431 4932 A001 movw r20,r0 8432 4934 839F mul r24,r19 8433 4936 500D add r21,r0 8434 4938 929F mul r25,r18 8435 493a 500D add r21,r0 8436 493c 1124 clr r1 8437 493e CA01 movw r24,r20 8438 4940 AA27 clr r26 8439 4942 97FD sbrc r25,7 8440 4944 A095 com r26 8441 4946 BA2F mov r27,r26 8442 4948 8093 0000 sts SollHoehe,r24 8443 494c 9093 0000 sts (SollHoehe)+1,r25 8444 4950 A093 0000 sts (SollHoehe)+2,r26 8445 4954 B093 0000 sts (SollHoehe)+3,r27 8446 .L903: 8447 4958 81E0 ldi r24,lo8(1) 8448 495a 8093 0000 sts HoehenReglerAktiv,r24 8449 .L677: 8450 495e 8091 0000 lds r24,IntegralNick 8451 4962 9091 0000 lds r25,(IntegralNick)+1 8452 4966 A091 0000 lds r26,(IntegralNick)+2 8453 496a B091 0000 lds r27,(IntegralNick)+3 8454 496e E090 0000 lds r14,GIER_GRAD_FAKTOR 8455 4972 F090 0000 lds r15,(GIER_GRAD_FAKTOR)+1 8456 4976 0091 0000 lds r16,(GIER_GRAD_FAKTOR)+2 8457 497a 1091 0000 lds r17,(GIER_GRAD_FAKTOR)+3 8458 497e BC01 movw r22,r24 8459 4980 CD01 movw r24,r26 8460 4982 A801 movw r20,r16 8461 4984 9701 movw r18,r14 8462 4986 0E94 0000 call __divmodsi4 8463 498a 5901 movw r10,r18 8464 498c 6A01 movw r12,r20 8465 498e 8091 0000 lds r24,IntegralRoll 8466 4992 9091 0000 lds r25,(IntegralRoll)+1 8467 4996 A091 0000 lds r26,(IntegralRoll)+2 8468 499a B091 0000 lds r27,(IntegralRoll)+3 8469 499e BC01 movw r22,r24 8470 49a0 CD01 movw r24,r26 8471 49a2 A801 movw r20,r16 8472 49a4 9701 movw r18,r14 8473 49a6 0E94 0000 call __divmodsi4 8474 49aa B901 movw r22,r18 8475 49ac C501 movw r24,r10 8476 49ae 0E94 0000 call ihypot 8477 49b2 5C01 movw r10,r24 8478 49b4 CC97 sbiw r24,60 8479 49b6 04F0 brlt .L678 8480 49b8 5CE3 ldi r21,lo8(60) 8481 49ba A52E mov r10,r21 8482 49bc B12C mov r11,__zero_reg__ 8483 .L678: 8484 49be C501 movw r24,r10 8485 49c0 0E94 0000 call c_cos_8192 8486 49c4 5C01 movw r10,r24 8487 49c6 80E2 ldi r24,lo8(32) 8488 49c8 8093 0000 sts VarioCharacter,r24 8489 49cc 1092 0000 sts (AltitudeSetpointTrimming)+1,__zero_reg__ 8490 49d0 1092 0000 sts AltitudeSetpointTrimming,__zero_reg__ 8491 49d4 8091 0000 lds r24,HoehenReglerAktiv 8492 49d8 8823 tst r24 8493 49da 01F4 brne .+2 8494 49dc 00C0 rjmp .L679 8495 49de 8091 0000 lds r24,FC_StatusFlags 8496 49e2 9927 clr r25 8497 49e4 9C01 movw r18,r24 8498 49e6 2071 andi r18,lo8(16) 8499 49e8 3070 andi r19,hi8(16) 8500 49ea 84FD sbrc r24,4 8501 49ec 00C0 rjmp .L679 8502 49ee 8091 0000 lds r24,FC_StatusFlags2 8503 49f2 8260 ori r24,lo8(2) 8504 49f4 8093 0000 sts FC_StatusFlags2,r24 8505 49f8 7091 0000 lds r23,Parameter_ExtraConfig 8506 49fc 872F mov r24,r23 8507 49fe 9927 clr r25 8508 4a00 41E0 ldi r20,lo8(1) 8509 4a02 C42E mov r12,r20 8510 4a04 D12C mov r13,__zero_reg__ 8511 4a06 C822 and r12,r24 8512 4a08 D922 and r13,r25 8513 4a0a 80FD sbrc r24,0 8514 4a0c 00C0 rjmp .L681 8515 4a0e 8091 0000 lds r24,Parameter_GlobalConfig 8516 4a12 81FD sbrc r24,1 8517 4a14 00C0 rjmp .L680 8518 .L681: 8519 4a16 C980 ldd r12,Y+1 8520 4a18 DA80 ldd r13,Y+2 8521 4a1a 3093 0000 sts (HeightTrimming.21)+1,r19 8522 4a1e 2093 0000 sts HeightTrimming.21,r18 8523 4a22 3093 0000 sts (AltitudeSetpointTrimming)+1,r19 8524 4a26 2093 0000 sts AltitudeSetpointTrimming,r18 8525 4a2a 8091 0000 lds r24,FC_StatusFlags 8526 4a2e 806C ori r24,lo8(-64) 8527 4a30 8093 0000 sts FC_StatusFlags,r24 8528 4a34 00C0 rjmp .L682 8529 .L680: 8530 4a36 8091 0000 lds r24,FC_StatusFlags 8531 4a3a 81FF sbrs r24,1 8532 4a3c 00C0 rjmp .L683 8533 4a3e 0091 0000 lds r16,StickGasHover 8534 4a42 1091 0000 lds r17,(StickGasHover)+1 8535 4a46 C801 movw r24,r16 8536 4a48 0F96 adiw r24,15 8537 4a4a 2090 0000 lds r2,StickGas 8538 4a4e 3090 0000 lds r3,(StickGas)+1 8539 4a52 8215 cp r24,r2 8540 4a54 9305 cpc r25,r3 8541 4a56 04F0 brlt .+2 8542 4a58 00C0 rjmp .L684 8543 4a5a 8091 0000 lds r24,BaroAtUpperLimit.25 8544 4a5e 8823 tst r24 8545 4a60 01F0 breq .+2 8546 4a62 00C0 rjmp .L684 8547 4a64 8091 0000 lds r24,FC_StatusFlags 8548 4a68 87FF sbrs r24,7 8549 4a6a 00C0 rjmp .L685 8550 4a6c 8091 0000 lds r24,FC_StatusFlags 8551 4a70 8F77 andi r24,lo8(127) 8552 4a72 8093 0000 sts FC_StatusFlags,r24 8553 4a76 8091 0000 lds r24,HoehenWert 8554 4a7a 9091 0000 lds r25,(HoehenWert)+1 8555 4a7e A091 0000 lds r26,(HoehenWert)+2 8556 4a82 B091 0000 lds r27,(HoehenWert)+3 8557 4a86 8093 0000 sts SollHoehe,r24 8558 4a8a 9093 0000 sts (SollHoehe)+1,r25 8559 4a8e A093 0000 sts (SollHoehe)+2,r26 8560 4a92 B093 0000 sts (SollHoehe)+3,r27 8561 .L685: 8562 4a96 8091 0000 lds r24,FC_StatusFlags 8563 4a9a 8064 ori r24,lo8(64) 8564 4a9c 8093 0000 sts FC_StatusFlags,r24 8565 4aa0 E090 0000 lds r14,Parameter_MaximumAltitude 8566 4aa4 EE20 tst r14 8567 4aa6 01F0 breq .L686 8568 4aa8 8091 0000 lds r24,SollHoehe 8569 4aac 9091 0000 lds r25,(SollHoehe)+1 8570 4ab0 A091 0000 lds r26,(SollHoehe)+2 8571 4ab4 B091 0000 lds r27,(SollHoehe)+3 8572 4ab8 BC01 movw r22,r24 8573 4aba CD01 movw r24,r26 8574 4abc 24E6 ldi r18,lo8(100) 8575 4abe 30E0 ldi r19,hi8(100) 8576 4ac0 40E0 ldi r20,hlo8(100) 8577 4ac2 50E0 ldi r21,hhi8(100) 8578 4ac4 0E94 0000 call __divmodsi4 8579 4ac8 8E2D mov r24,r14 8580 4aca 9927 clr r25 8581 4acc AA27 clr r26 8582 4ace BB27 clr r27 8583 4ad0 8217 cp r24,r18 8584 4ad2 9307 cpc r25,r19 8585 4ad4 A407 cpc r26,r20 8586 4ad6 B507 cpc r27,r21 8587 4ad8 04F4 brge .L686 8588 4ada D092 0000 sts (AltitudeSetpointTrimming)+1,r13 8589 4ade C092 0000 sts AltitudeSetpointTrimming,r12 8590 4ae2 00C0 rjmp .L687 8591 .L686: 8592 4ae4 C101 movw r24,r2 8593 4ae6 801B sub r24,r16 8594 4ae8 910B sbc r25,r17 8595 4aea 0F97 sbiw r24,15 8596 4aec 97FF sbrs r25,7 8597 4aee 00C0 rjmp .L688 8598 4af0 9095 com r25 8599 4af2 8195 neg r24 8600 4af4 9F4F sbci r25,lo8(-1) 8601 .L688: 8602 4af6 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 8603 4afa 8093 0000 sts AltitudeSetpointTrimming,r24 8604 4afe 8BE2 ldi r24,lo8(43) 8605 4b00 8093 0000 sts VarioCharacter,r24 8606 .L687: 8607 4b04 1092 0000 sts WaypointTrimming,__zero_reg__ 8608 4b08 00C0 rjmp .L689 8609 .L684: 8610 4b0a C801 movw r24,r16 8611 4b0c 0F97 sbiw r24,15 8612 4b0e 2816 cp r2,r24 8613 4b10 3906 cpc r3,r25 8614 4b12 04F4 brge .L690 8615 4b14 2091 0000 lds r18,BaroAtLowerLimit.26 8616 4b18 2223 tst r18 8617 4b1a 01F4 brne .L690 8618 4b1c 8091 0000 lds r24,FC_StatusFlags 8619 4b20 86FF sbrs r24,6 8620 4b22 00C0 rjmp .L691 8621 4b24 8091 0000 lds r24,FC_StatusFlags 8622 4b28 8F7B andi r24,lo8(-65) 8623 4b2a 8093 0000 sts FC_StatusFlags,r24 8624 4b2e 8091 0000 lds r24,HoehenWert 8625 4b32 9091 0000 lds r25,(HoehenWert)+1 8626 4b36 A091 0000 lds r26,(HoehenWert)+2 8627 4b3a B091 0000 lds r27,(HoehenWert)+3 8628 4b3e 8093 0000 sts SollHoehe,r24 8629 4b42 9093 0000 sts (SollHoehe)+1,r25 8630 4b46 A093 0000 sts (SollHoehe)+2,r26 8631 4b4a B093 0000 sts (SollHoehe)+3,r27 8632 .L691: 8633 4b4e 8091 0000 lds r24,FC_StatusFlags 8634 4b52 8068 ori r24,lo8(-128) 8635 4b54 8093 0000 sts FC_StatusFlags,r24 8636 4b58 C101 movw r24,r2 8637 4b5a 801B sub r24,r16 8638 4b5c 910B sbc r25,r17 8639 4b5e 0F96 adiw r24,15 8640 4b60 97FF sbrs r25,7 8641 4b62 00C0 rjmp .L692 8642 4b64 9095 com r25 8643 4b66 8195 neg r24 8644 4b68 9F4F sbci r25,lo8(-1) 8645 .L692: 8646 4b6a 9095 com r25 8647 4b6c 8195 neg r24 8648 4b6e 9F4F sbci r25,lo8(-1) 8649 4b70 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 8650 4b74 8093 0000 sts AltitudeSetpointTrimming,r24 8651 4b78 8DE2 ldi r24,lo8(45) 8652 4b7a 8093 0000 sts VarioCharacter,r24 8653 4b7e 2093 0000 sts WaypointTrimming,r18 8654 4b82 00C0 rjmp .L689 8655 .L690: 8656 4b84 8DE3 ldi r24,lo8(61) 8657 4b86 8093 0000 sts VarioCharacter,r24 8658 4b8a 6091 0000 lds r22,FromNC_AltitudeSpeed 8659 4b8e 6623 tst r22 8660 4b90 01F0 breq .L694 8661 4b92 2091 0000 lds r18,FromNC_AltitudeSetpoint 8662 4b96 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+1 8663 4b9a 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+2 8664 4b9e 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+3 8665 4ba2 8091 0000 lds r24,SollHoehe 8666 4ba6 9091 0000 lds r25,(SollHoehe)+1 8667 4baa A091 0000 lds r26,(SollHoehe)+2 8668 4bae B091 0000 lds r27,(SollHoehe)+3 8669 4bb2 8217 cp r24,r18 8670 4bb4 9307 cpc r25,r19 8671 4bb6 A407 cpc r26,r20 8672 4bb8 B507 cpc r27,r21 8673 4bba 04F4 brge .L694 8674 4bbc 8091 0000 lds r24,FC_StatusFlags 8675 4bc0 8064 ori r24,lo8(64) 8676 4bc2 8093 0000 sts FC_StatusFlags,r24 8677 4bc6 862F mov r24,r22 8678 4bc8 9927 clr r25 8679 4bca 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 8680 4bce 8093 0000 sts AltitudeSetpointTrimming,r24 8681 4bd2 8AE0 ldi r24,lo8(10) 8682 4bd4 8093 0000 sts WaypointTrimming,r24 8683 4bd8 8EE5 ldi r24,lo8(94) 8684 4bda 8093 0000 sts VarioCharacter,r24 8685 4bde 8091 0000 lds r24,FC_StatusFlags 8686 4be2 87FF sbrs r24,7 8687 4be4 00C0 rjmp .L689 8688 4be6 8091 0000 lds r24,FC_StatusFlags 8689 4bea 8F77 andi r24,lo8(127) 8690 4bec 00C0 rjmp .L905 8691 .L694: 8692 4bee 6623 tst r22 8693 4bf0 01F4 brne .+2 8694 4bf2 00C0 rjmp .L697 8695 4bf4 2091 0000 lds r18,FromNC_AltitudeSetpoint 8696 4bf8 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+1 8697 4bfc 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+2 8698 4c00 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+3 8699 4c04 8091 0000 lds r24,SollHoehe 8700 4c08 9091 0000 lds r25,(SollHoehe)+1 8701 4c0c A091 0000 lds r26,(SollHoehe)+2 8702 4c10 B091 0000 lds r27,(SollHoehe)+3 8703 4c14 2817 cp r18,r24 8704 4c16 3907 cpc r19,r25 8705 4c18 4A07 cpc r20,r26 8706 4c1a 5B07 cpc r21,r27 8707 4c1c 04F4 brge .L697 8708 4c1e 8091 0000 lds r24,FC_StatusFlags 8709 4c22 8068 ori r24,lo8(-128) 8710 4c24 8093 0000 sts FC_StatusFlags,r24 8711 4c28 862F mov r24,r22 8712 4c2a 9927 clr r25 8713 4c2c 9095 com r25 8714 4c2e 8195 neg r24 8715 4c30 9F4F sbci r25,lo8(-1) 8716 4c32 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 8717 4c36 8093 0000 sts AltitudeSetpointTrimming,r24 8718 4c3a 86EF ldi r24,lo8(-10) 8719 4c3c 8093 0000 sts WaypointTrimming,r24 8720 4c40 86E7 ldi r24,lo8(118) 8721 4c42 8093 0000 sts VarioCharacter,r24 8722 4c46 8091 0000 lds r24,FC_StatusFlags 8723 4c4a 86FF sbrs r24,6 8724 4c4c 00C0 rjmp .L689 8725 4c4e 8091 0000 lds r24,FC_StatusFlags 8726 4c52 8F7B andi r24,lo8(-65) 8727 .L905: 8728 4c54 8093 0000 sts FC_StatusFlags,r24 8729 4c58 8091 0000 lds r24,HoehenWert 8730 4c5c 9091 0000 lds r25,(HoehenWert)+1 8731 4c60 A091 0000 lds r26,(HoehenWert)+2 8732 4c64 B091 0000 lds r27,(HoehenWert)+3 8733 4c68 8093 0000 sts SollHoehe,r24 8734 4c6c 9093 0000 sts (SollHoehe)+1,r25 8735 4c70 A093 0000 sts (SollHoehe)+2,r26 8736 4c74 B093 0000 sts (SollHoehe)+3,r27 8737 4c78 00C0 rjmp .L689 8738 .L697: 8739 4c7a 8091 0000 lds r24,FC_StatusFlags 8740 4c7e 807C andi r24,lo8(-64) 8741 4c80 01F4 brne .+2 8742 4c82 00C0 rjmp .L689 8743 4c84 8091 0000 lds r24,WaypointTrimming 8744 4c88 8823 tst r24 8745 4c8a 01F4 brne .L701 8746 4c8c E090 0000 lds r14,HoehenWert 8747 4c90 F090 0000 lds r15,(HoehenWert)+1 8748 4c94 0091 0000 lds r16,(HoehenWert)+2 8749 4c98 1091 0000 lds r17,(HoehenWert)+3 8750 4c9c D801 movw r26,r16 8751 4c9e C701 movw r24,r14 8752 4ca0 8058 subi r24,lo8(-(-128)) 8753 4ca2 9040 sbci r25,hi8(-(-128)) 8754 4ca4 A040 sbci r26,hlo8(-(-128)) 8755 4ca6 B040 sbci r27,hhi8(-(-128)) 8756 4ca8 2091 0000 lds r18,SollHoehe 8757 4cac 3091 0000 lds r19,(SollHoehe)+1 8758 4cb0 4091 0000 lds r20,(SollHoehe)+2 8759 4cb4 5091 0000 lds r21,(SollHoehe)+3 8760 4cb8 8217 cp r24,r18 8761 4cba 9307 cpc r25,r19 8762 4cbc A407 cpc r26,r20 8763 4cbe B507 cpc r27,r21 8764 4cc0 04F4 brge .L904 8765 4cc2 D801 movw r26,r16 8766 4cc4 C701 movw r24,r14 8767 4cc6 8058 subi r24,lo8(-(128)) 8768 4cc8 9F4F sbci r25,hi8(-(128)) 8769 4cca AF4F sbci r26,hlo8(-(128)) 8770 4ccc BF4F sbci r27,hhi8(-(128)) 8771 4cce 2817 cp r18,r24 8772 4cd0 3907 cpc r19,r25 8773 4cd2 4A07 cpc r20,r26 8774 4cd4 5B07 cpc r21,r27 8775 4cd6 04F0 brlt .L705 8776 .L904: 8777 4cd8 8093 0000 sts SollHoehe,r24 8778 4cdc 9093 0000 sts (SollHoehe)+1,r25 8779 4ce0 A093 0000 sts (SollHoehe)+2,r26 8780 4ce4 B093 0000 sts (SollHoehe)+3,r27 8781 4ce8 00C0 rjmp .L705 8782 .L701: 8783 4cea 1092 0000 sts WaypointTrimming,__zero_reg__ 8784 .L705: 8785 4cee 8091 0000 lds r24,FC_StatusFlags 8786 4cf2 8F73 andi r24,lo8(63) 8787 4cf4 8093 0000 sts FC_StatusFlags,r24 8788 4cf8 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__ 8789 4cfc 1092 0000 sts HeightTrimming.21,__zero_reg__ 8790 4d00 71FF sbrs r23,1 8791 4d02 00C0 rjmp .L706 8792 4d04 84EF ldi r24,lo8(500) 8793 4d06 91E0 ldi r25,hi8(500) 8794 4d08 9093 0000 sts (beeptime)+1,r25 8795 4d0c 8093 0000 sts beeptime,r24 8796 .L706: 8797 4d10 8091 0000 lds r24,StartTrigger 8798 4d14 8823 tst r24 8799 4d16 01F4 brne .L689 8800 4d18 8091 0000 lds r24,HoehenWert 8801 4d1c 9091 0000 lds r25,(HoehenWert)+1 8802 4d20 A091 0000 lds r26,(HoehenWert)+2 8803 4d24 B091 0000 lds r27,(HoehenWert)+3 8804 4d28 C397 sbiw r24,51 8805 4d2a A105 cpc r26,__zero_reg__ 8806 4d2c B105 cpc r27,__zero_reg__ 8807 4d2e 04F0 brlt .L689 8808 4d30 81E0 ldi r24,lo8(1) 8809 4d32 8093 0000 sts StartTrigger,r24 8810 .L689: 8811 4d36 6091 0000 lds r22,HeightTrimming.21 8812 4d3a 7091 0000 lds r23,(HeightTrimming.21)+1 8813 4d3e 8091 0000 lds r24,AltitudeSetpointTrimming 8814 4d42 9091 0000 lds r25,(AltitudeSetpointTrimming)+1 8815 4d46 680F add r22,r24 8816 4d48 791F adc r23,r25 8817 4d4a 7093 0000 sts (HeightTrimming.21)+1,r23 8818 4d4e 6093 0000 sts HeightTrimming.21,r22 8819 4d52 CB01 movw r24,r22 8820 4d54 77FF sbrs r23,7 8821 4d56 00C0 rjmp .L709 8822 4d58 8827 clr r24 8823 4d5a 9927 clr r25 8824 4d5c 861B sub r24,r22 8825 4d5e 970B sbc r25,r23 8826 .L709: 8827 4d60 855F subi r24,lo8(501) 8828 4d62 9140 sbci r25,hi8(501) 8829 4d64 04F4 brge .+2 8830 4d66 00C0 rjmp .L708 8831 4d68 4091 0000 lds r20,WaypointTrimming 8832 4d6c 4423 tst r20 8833 4d6e 01F0 breq .L710 8834 4d70 8091 0000 lds r24,FromNC_AltitudeSetpoint 8835 4d74 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+1 8836 4d78 2091 0000 lds r18,SollHoehe 8837 4d7c 3091 0000 lds r19,(SollHoehe)+1 8838 4d80 821B sub r24,r18 8839 4d82 930B sbc r25,r19 8840 4d84 0996 adiw r24,9 8841 4d86 4397 sbiw r24,19 8842 4d88 00F4 brsh .L711 8843 4d8a 8091 0000 lds r24,FromNC_AltitudeSetpoint 8844 4d8e 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+1 8845 4d92 A091 0000 lds r26,(FromNC_AltitudeSetpoint)+2 8846 4d96 B091 0000 lds r27,(FromNC_AltitudeSetpoint)+3 8847 4d9a 00C0 rjmp .L907 8848 .L711: 8849 4d9c 242F mov r18,r20 8850 4d9e 3327 clr r19 8851 4da0 27FD sbrc r18,7 8852 4da2 3095 com r19 8853 4da4 432F mov r20,r19 8854 4da6 532F mov r21,r19 8855 4da8 8091 0000 lds r24,SollHoehe 8856 4dac 9091 0000 lds r25,(SollHoehe)+1 8857 4db0 A091 0000 lds r26,(SollHoehe)+2 8858 4db4 B091 0000 lds r27,(SollHoehe)+3 8859 4db8 820F add r24,r18 8860 4dba 931F adc r25,r19 8861 4dbc A41F adc r26,r20 8862 4dbe B51F adc r27,r21 8863 .L907: 8864 4dc0 8093 0000 sts SollHoehe,r24 8865 4dc4 9093 0000 sts (SollHoehe)+1,r25 8866 4dc8 A093 0000 sts (SollHoehe)+2,r26 8867 4dcc B093 0000 sts (SollHoehe)+3,r27 8868 4dd0 00C0 rjmp .L713 8869 .L710: 8870 4dd2 8091 0000 lds r24,EE_Parameter+18 8871 4dd6 2091 0000 lds r18,SollHoehe 8872 4dda 3091 0000 lds r19,(SollHoehe)+1 8873 4dde 4091 0000 lds r20,(SollHoehe)+2 8874 4de2 5091 0000 lds r21,(SollHoehe)+3 8875 4de6 1616 cp __zero_reg__,r22 8876 4de8 1706 cpc __zero_reg__,r23 8877 4dea 04F4 brge .L714 8878 4dec 63E0 ldi r22,lo8(3) 8879 4dee 0E94 0000 call __udivmodqi4 8880 4df2 280F add r18,r24 8881 4df4 311D adc r19,__zero_reg__ 8882 4df6 411D adc r20,__zero_reg__ 8883 4df8 511D adc r21,__zero_reg__ 8884 4dfa 00C0 rjmp .L906 8885 .L714: 8886 4dfc 63E0 ldi r22,lo8(3) 8887 4dfe 0E94 0000 call __udivmodqi4 8888 4e02 281B sub r18,r24 8889 4e04 3109 sbc r19,__zero_reg__ 8890 4e06 4109 sbc r20,__zero_reg__ 8891 4e08 5109 sbc r21,__zero_reg__ 8892 .L906: 8893 4e0a 2093 0000 sts SollHoehe,r18 8894 4e0e 3093 0000 sts (SollHoehe)+1,r19 8895 4e12 4093 0000 sts (SollHoehe)+2,r20 8896 4e16 5093 0000 sts (SollHoehe)+3,r21 8897 .L713: 8898 4e1a 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__ 8899 4e1e 1092 0000 sts HeightTrimming.21,__zero_reg__ 8900 4e22 E090 0000 lds r14,HoehenWert 8901 4e26 F090 0000 lds r15,(HoehenWert)+1 8902 4e2a 0091 0000 lds r16,(HoehenWert)+2 8903 4e2e 1091 0000 lds r17,(HoehenWert)+3 8904 4e32 D801 movw r26,r16 8905 4e34 C701 movw r24,r14 8906 4e36 8050 subi r24,lo8(-(-1024)) 8907 4e38 9440 sbci r25,hi8(-(-1024)) 8908 4e3a A040 sbci r26,hlo8(-(-1024)) 8909 4e3c B040 sbci r27,hhi8(-(-1024)) 8910 4e3e 2091 0000 lds r18,SollHoehe 8911 4e42 3091 0000 lds r19,(SollHoehe)+1 8912 4e46 4091 0000 lds r20,(SollHoehe)+2 8913 4e4a 5091 0000 lds r21,(SollHoehe)+3 8914 4e4e 8217 cp r24,r18 8915 4e50 9307 cpc r25,r19 8916 4e52 A407 cpc r26,r20 8917 4e54 B507 cpc r27,r21 8918 4e56 04F4 brge .L908 8919 4e58 D801 movw r26,r16 8920 4e5a C701 movw r24,r14 8921 4e5c 8050 subi r24,lo8(-(1024)) 8922 4e5e 9C4F sbci r25,hi8(-(1024)) 8923 4e60 AF4F sbci r26,hlo8(-(1024)) 8924 4e62 BF4F sbci r27,hhi8(-(1024)) 8925 4e64 2817 cp r18,r24 8926 4e66 3907 cpc r19,r25 8927 4e68 4A07 cpc r20,r26 8928 4e6a 5B07 cpc r21,r27 8929 4e6c 04F0 brlt .L717 8930 .L908: 8931 4e6e 8093 0000 sts SollHoehe,r24 8932 4e72 9093 0000 sts (SollHoehe)+1,r25 8933 4e76 A093 0000 sts (SollHoehe)+2,r26 8934 4e7a B093 0000 sts (SollHoehe)+3,r27 8935 .L717: 8936 4e7e 8091 0000 lds r24,Parameter_ExtraConfig 8937 4e82 81FF sbrs r24,1 8938 4e84 00C0 rjmp .L719 8939 4e86 84E6 ldi r24,lo8(100) 8940 4e88 90E0 ldi r25,hi8(100) 8941 4e8a 9093 0000 sts (beeptime)+1,r25 8942 4e8e 8093 0000 sts beeptime,r24 8943 .L719: 8944 4e92 8091 0000 lds r24,EE_Parameter+22 8945 4e96 8823 tst r24 8946 4e98 01F4 brne .L708 8947 4e9a 8091 0000 lds r24,FromNC_AltitudeSpeed 8948 4e9e 8823 tst r24 8949 4ea0 01F4 brne .L708 8950 4ea2 4091 0000 lds r20,HoverGas 8951 4ea6 5091 0000 lds r21,(HoverGas)+1 8952 4eaa 57FF sbrs r21,7 8953 4eac 00C0 rjmp .L721 8954 4eae 4D5F subi r20,lo8(-(3)) 8955 4eb0 5F4F sbci r21,hi8(-(3)) 8956 .L721: 8957 4eb2 5595 asr r21 8958 4eb4 4795 ror r20 8959 4eb6 5595 asr r21 8960 4eb8 4795 ror r20 8961 4eba 8091 0000 lds r24,UBat 8962 4ebe 9091 0000 lds r25,(UBat)+1 8963 4ec2 2091 0000 lds r18,BattLowVoltageWarning 8964 4ec6 3327 clr r19 8965 4ec8 489F mul r20,r24 8966 4eca F001 movw r30,r0 8967 4ecc 499F mul r20,r25 8968 4ece F00D add r31,r0 8969 4ed0 589F mul r21,r24 8970 4ed2 F00D add r31,r0 8971 4ed4 1124 clr r1 8972 4ed6 CF01 movw r24,r30 8973 4ed8 B901 movw r22,r18 8974 4eda 0E94 0000 call __divmodhi4 8975 4ede 7093 0000 sts (StickGasHover)+1,r23 8976 4ee2 6093 0000 sts StickGasHover,r22 8977 4ee6 6634 cpi r22,70 8978 4ee8 7105 cpc r23,__zero_reg__ 8979 4eea 04F4 brge .L722 8980 4eec 86E4 ldi r24,lo8(70) 8981 4eee 90E0 ldi r25,hi8(70) 8982 4ef0 00C0 rjmp .L909 8983 .L722: 8984 4ef2 6739 cpi r22,151 8985 4ef4 7105 cpc r23,__zero_reg__ 8986 4ef6 04F0 brlt .L708 8987 4ef8 86E9 ldi r24,lo8(150) 8988 4efa 90E0 ldi r25,hi8(150) 8989 .L909: 8990 4efc 9093 0000 sts (StickGasHover)+1,r25 8991 4f00 8093 0000 sts StickGasHover,r24 8992 .L708: 8993 4f04 8091 0000 lds r24,BaroExpandActive 8994 4f08 9091 0000 lds r25,(BaroExpandActive)+1 8995 4f0c 892B or r24,r25 8996 4f0e 01F0 breq .L726 8997 4f10 8091 0000 lds r24,HoehenWert 8998 4f14 9091 0000 lds r25,(HoehenWert)+1 8999 4f18 A091 0000 lds r26,(HoehenWert)+2 9000 4f1c B091 0000 lds r27,(HoehenWert)+3 9001 4f20 8093 0000 sts SollHoehe,r24 9002 4f24 9093 0000 sts (SollHoehe)+1,r25 9003 4f28 A093 0000 sts (SollHoehe)+2,r26 9004 4f2c B093 0000 sts (SollHoehe)+3,r27 9005 4f30 00C0 rjmp .L726 9006 .L683: 9007 4f32 8091 0000 lds r24,HoehenWert 9008 4f36 9091 0000 lds r25,(HoehenWert)+1 9009 4f3a A091 0000 lds r26,(HoehenWert)+2 9010 4f3e B091 0000 lds r27,(HoehenWert)+3 9011 4f42 8059 subi r24,lo8(-(-400)) 9012 4f44 9140 sbci r25,hi8(-(-400)) 9013 4f46 A040 sbci r26,hlo8(-(-400)) 9014 4f48 B040 sbci r27,hhi8(-(-400)) 9015 4f4a 8093 0000 sts SollHoehe,r24 9016 4f4e 9093 0000 sts (SollHoehe)+1,r25 9017 4f52 A093 0000 sts (SollHoehe)+2,r26 9018 4f56 B093 0000 sts (SollHoehe)+3,r27 9019 4f5a 8091 0000 lds r24,EE_Parameter+22 9020 4f5e 8823 tst r24 9021 4f60 01F0 breq .L727 9022 4f62 9927 clr r25 9023 4f64 00C0 rjmp .L910 9024 .L727: 9025 4f66 88E7 ldi r24,lo8(120) 9026 4f68 90E0 ldi r25,hi8(120) 9027 .L910: 9028 4f6a 9093 0000 sts (StickGasHover)+1,r25 9029 4f6e 8093 0000 sts StickGasHover,r24 9030 4f72 E980 ldd r14,Y+1 9031 4f74 FA80 ldd r15,Y+2 9032 4f76 F092 0000 sts (HoverGas)+1,r15 9033 4f7a E092 0000 sts HoverGas,r14 9034 4f7e 8EE2 ldi r24,lo8(46) 9035 4f80 8093 0000 sts VarioCharacter,r24 9036 .L726: 9037 4f84 C090 0000 lds r12,HoverGas 9038 4f88 D090 0000 lds r13,(HoverGas)+1 9039 .L682: 9040 4f8c E090 0000 lds r14,HoehenWert 9041 4f90 F090 0000 lds r15,(HoehenWert)+1 9042 4f94 0091 0000 lds r16,(HoehenWert)+2 9043 4f98 1091 0000 lds r17,(HoehenWert)+3 9044 4f9c 2091 0000 lds r18,SollHoehe 9045 4fa0 3091 0000 lds r19,(SollHoehe)+1 9046 4fa4 4091 0000 lds r20,(SollHoehe)+2 9047 4fa8 5091 0000 lds r21,(SollHoehe)+3 9048 4fac 2E15 cp r18,r14 9049 4fae 3F05 cpc r19,r15 9050 4fb0 4007 cpc r20,r16 9051 4fb2 5107 cpc r21,r17 9052 4fb4 04F0 brlt .L730 9053 4fb6 8091 0000 lds r24,Parameter_ExtraConfig 9054 4fba 80FD sbrc r24,0 9055 4fbc 00C0 rjmp .L788 9056 .L730: 9057 4fbe 8091 0000 lds r24,BaroExpandActive 9058 4fc2 9091 0000 lds r25,(BaroExpandActive)+1 9059 4fc6 892B or r24,r25 9060 4fc8 01F0 breq .L731 9061 4fca C090 0000 lds r12,HoverGas 9062 4fce D090 0000 lds r13,(HoverGas)+1 9063 4fd2 00E0 ldi r16,lo8(0) 9064 4fd4 10E0 ldi r17,hi8(0) 9065 4fd6 00C0 rjmp .L732 9066 .L731: 9067 4fd8 D801 movw r26,r16 9068 4fda C701 movw r24,r14 9069 4fdc 821B sub r24,r18 9070 4fde 930B sbc r25,r19 9071 4fe0 A40B sbc r26,r20 9072 4fe2 B50B sbc r27,r21 9073 4fe4 8093 0000 sts tmp_long.1,r24 9074 4fe8 9093 0000 sts (tmp_long.1)+1,r25 9075 4fec A093 0000 sts (tmp_long.1)+2,r26 9076 4ff0 B093 0000 sts (tmp_long.1)+3,r27 9077 4ff4 8230 cpi r24,lo8(-32766) 9078 4ff6 00E8 ldi r16,hi8(-32766) 9079 4ff8 9007 cpc r25,r16 9080 4ffa 0FEF ldi r16,hlo8(-32766) 9081 4ffc A007 cpc r26,r16 9082 4ffe 0FEF ldi r16,hhi8(-32766) 9083 5000 B007 cpc r27,r16 9084 5002 04F4 brge .L733 9085 5004 81E0 ldi r24,lo8(-32767) 9086 5006 90E8 ldi r25,hi8(-32767) 9087 5008 AFEF ldi r26,hlo8(-32767) 9088 500a BFEF ldi r27,hhi8(-32767) 9089 500c 00C0 rjmp .L911 9090 .L733: 9091 500e 8F5F subi r24,lo8(32767) 9092 5010 9F47 sbci r25,hi8(32767) 9093 5012 A040 sbci r26,hlo8(32767) 9094 5014 B040 sbci r27,hhi8(32767) 9095 5016 04F0 brlt .L734 9096 5018 8FEF ldi r24,lo8(32767) 9097 501a 9FE7 ldi r25,hi8(32767) 9098 501c A0E0 ldi r26,hlo8(32767) 9099 501e B0E0 ldi r27,hhi8(32767) 9100 .L911: 9101 5020 8093 0000 sts tmp_long.1,r24 9102 5024 9093 0000 sts (tmp_long.1)+1,r25 9103 5028 A093 0000 sts (tmp_long.1)+2,r26 9104 502c B093 0000 sts (tmp_long.1)+3,r27 9105 .L734: 9106 5030 0091 0000 lds r16,tmp_long.1 9107 5034 1091 0000 lds r17,(tmp_long.1)+1 9108 5038 8091 0000 lds r24,Parameter_Hoehe_P 9109 503c 282F mov r18,r24 9110 503e 3327 clr r19 9111 5040 4427 clr r20 9112 5042 5527 clr r21 9113 5044 8091 0000 lds r24,tmp_long.1 9114 5048 9091 0000 lds r25,(tmp_long.1)+1 9115 504c A091 0000 lds r26,(tmp_long.1)+2 9116 5050 B091 0000 lds r27,(tmp_long.1)+3 9117 5054 BC01 movw r22,r24 9118 5056 CD01 movw r24,r26 9119 5058 0E94 0000 call __mulsi3 9120 505c 97FF sbrs r25,7 9121 505e 00C0 rjmp .L736 9122 5060 615E subi r22,lo8(-(31)) 9123 5062 7F4F sbci r23,hi8(-(31)) 9124 5064 8F4F sbci r24,hlo8(-(31)) 9125 5066 9F4F sbci r25,hhi8(-(31)) 9126 .L736: 9127 5068 25E0 ldi r18,5 9128 506a 9595 1: asr r25 9129 506c 8795 ror r24 9130 506e 7795 ror r23 9131 5070 6795 ror r22 9132 5072 2A95 dec r18 9133 5074 01F4 brne 1b 9134 5076 6093 0000 sts tmp_long.1,r22 9135 507a 7093 0000 sts (tmp_long.1)+1,r23 9136 507e 8093 0000 sts (tmp_long.1)+2,r24 9137 5082 9093 0000 sts (tmp_long.1)+3,r25 9138 5086 6530 cpi r22,lo8(-507) 9139 5088 2EEF ldi r18,hi8(-507) 9140 508a 7207 cpc r23,r18 9141 508c 2FEF ldi r18,hlo8(-507) 9142 508e 8207 cpc r24,r18 9143 5090 2FEF ldi r18,hhi8(-507) 9144 5092 9207 cpc r25,r18 9145 5094 04F4 brge .L737 9146 5096 84E0 ldi r24,lo8(-508) 9147 5098 9EEF ldi r25,hi8(-508) 9148 509a AFEF ldi r26,hlo8(-508) 9149 509c BFEF ldi r27,hhi8(-508) 9150 509e 00C0 rjmp .L912 9151 .L737: 9152 50a0 6050 subi r22,lo8(1024) 9153 50a2 7440 sbci r23,hi8(1024) 9154 50a4 8040 sbci r24,hlo8(1024) 9155 50a6 9040 sbci r25,hhi8(1024) 9156 50a8 04F0 brlt .L738 9157 50aa 80E0 ldi r24,lo8(1024) 9158 50ac 94E0 ldi r25,hi8(1024) 9159 50ae A0E0 ldi r26,hlo8(1024) 9160 50b0 B0E0 ldi r27,hhi8(1024) 9161 .L912: 9162 50b2 8093 0000 sts tmp_long.1,r24 9163 50b6 9093 0000 sts (tmp_long.1)+1,r25 9164 50ba A093 0000 sts (tmp_long.1)+2,r26 9165 50be B093 0000 sts (tmp_long.1)+3,r27 9166 .L738: 9167 50c2 8090 0000 lds r8,tmp_long.1 9168 50c6 9090 0000 lds r9,(tmp_long.1)+1 9169 50ca 2091 0000 lds r18,VarioMeter 9170 50ce 3091 0000 lds r19,(VarioMeter)+1 9171 50d2 37FF sbrs r19,7 9172 50d4 00C0 rjmp .L740 9173 50d6 295F subi r18,lo8(-(7)) 9174 50d8 3F4F sbci r19,hi8(-(7)) 9175 .L740: 9176 50da 83E0 ldi r24,3 9177 50dc 3595 1: asr r19 9178 50de 2795 ror r18 9179 50e0 8A95 dec r24 9180 50e2 01F4 brne 1b 9181 50e4 4FEF ldi r20,hi8(-126) 9182 50e6 2238 cpi r18,lo8(-126) 9183 50e8 3407 cpc r19,r20 9184 50ea 04F4 brge .L741 9185 50ec 21E8 ldi r18,lo8(-127) 9186 50ee 3FEF ldi r19,hi8(-127) 9187 50f0 00C0 rjmp .L742 9188 .L741: 9189 50f2 2038 cpi r18,128 9190 50f4 3105 cpc r19,__zero_reg__ 9191 50f6 04F0 brlt .L742 9192 50f8 20E8 ldi r18,lo8(128) 9193 50fa 30E0 ldi r19,hi8(128) 9194 .L742: 9195 50fc C901 movw r24,r18 9196 50fe AA27 clr r26 9197 5100 97FD sbrc r25,7 9198 5102 A095 com r26 9199 5104 BA2F mov r27,r26 9200 5106 2091 0000 lds r18,Parameter_Luftdruck_D 9201 510a 3327 clr r19 9202 510c 4427 clr r20 9203 510e 5527 clr r21 9204 5110 BC01 movw r22,r24 9205 5112 CD01 movw r24,r26 9206 5114 0E94 0000 call __mulsi3 9207 5118 97FF sbrs r25,7 9208 511a 00C0 rjmp .L744 9209 511c 6D5F subi r22,lo8(-(3)) 9210 511e 7F4F sbci r23,hi8(-(3)) 9211 5120 8F4F sbci r24,hlo8(-(3)) 9212 5122 9F4F sbci r25,hhi8(-(3)) 9213 .L744: 9214 5124 B2E0 ldi r27,2 9215 5126 9595 1: asr r25 9216 5128 8795 ror r24 9217 512a 7795 ror r23 9218 512c 6795 ror r22 9219 512e BA95 dec r27 9220 5130 01F4 brne 1b 9221 5132 9B01 movw r18,r22 9222 5134 5FEF ldi r21,hi8(-255) 9223 5136 6130 cpi r22,lo8(-255) 9224 5138 7507 cpc r23,r21 9225 513a 04F4 brge .L745 9226 513c 20E0 ldi r18,lo8(-256) 9227 513e 3FEF ldi r19,hi8(-256) 9228 5140 00C0 rjmp .L746 9229 .L745: 9230 5142 6F3F cpi r22,255 9231 5144 7105 cpc r23,__zero_reg__ 9232 5146 01F0 breq .L746 9233 5148 04F0 brlt .L746 9234 514a 20E0 ldi r18,lo8(256) 9235 514c 31E0 ldi r19,hi8(256) 9236 .L746: 9237 514e 8091 0000 lds r24,FC_StatusFlags 9238 5152 807C andi r24,lo8(-64) 9239 5154 01F0 breq .L748 9240 5156 C901 movw r24,r18 9241 5158 37FD sbrc r19,7 9242 515a 0396 adiw r24,3 9243 .L749: 9244 515c 9C01 movw r18,r24 9245 515e 3595 asr r19 9246 5160 2795 ror r18 9247 5162 3595 asr r19 9248 5164 2795 ror r18 9249 5166 00C0 rjmp .L750 9250 .L748: 9251 5168 8091 0000 lds r24,Parameter_ExtraConfig 9252 516c 80FF sbrs r24,0 9253 516e 00C0 rjmp .L750 9254 5170 C901 movw r24,r18 9255 5172 37FD sbrc r19,7 9256 5174 0796 adiw r24,7 9257 .L752: 9258 5176 9C01 movw r18,r24 9259 5178 F3E0 ldi r31,3 9260 517a 3595 1: asr r19 9261 517c 2795 ror r18 9262 517e FA95 dec r31 9263 5180 01F4 brne 1b 9264 .L750: 9265 5182 820E add r8,r18 9266 5184 931E adc r9,r19 9267 .L732: 9268 5186 2091 0000 lds r18,Parameter_Hoehe_ACC_Wirkung 9269 518a 2223 tst r18 9270 518c 01F4 brne .+2 9271 518e 00C0 rjmp .L753 9272 5190 6091 0000 lds r22,Mess_Integral_Hoch 9273 5194 7091 0000 lds r23,(Mess_Integral_Hoch)+1 9274 5198 8091 0000 lds r24,(Mess_Integral_Hoch)+2 9275 519c 9091 0000 lds r25,(Mess_Integral_Hoch)+3 9276 51a0 97FF sbrs r25,7 9277 51a2 00C0 rjmp .L754 9278 51a4 6158 subi r22,lo8(-(127)) 9279 51a6 7F4F sbci r23,hi8(-(127)) 9280 51a8 8F4F sbci r24,hlo8(-(127)) 9281 51aa 9F4F sbci r25,hhi8(-(127)) 9282 .L754: 9283 51ac E7E0 ldi r30,7 9284 51ae 9595 1: asr r25 9285 51b0 8795 ror r24 9286 51b2 7795 ror r23 9287 51b4 6795 ror r22 9288 51b6 EA95 dec r30 9289 51b8 01F4 brne 1b 9290 51ba 3327 clr r19 9291 51bc 4427 clr r20 9292 51be 5527 clr r21 9293 51c0 0E94 0000 call __mulsi3 9294 51c4 97FF sbrs r25,7 9295 51c6 00C0 rjmp .L755 9296 51c8 615E subi r22,lo8(-(31)) 9297 51ca 7F4F sbci r23,hi8(-(31)) 9298 51cc 8F4F sbci r24,hlo8(-(31)) 9299 51ce 9F4F sbci r25,hhi8(-(31)) 9300 .L755: 9301 51d0 55E0 ldi r21,5 9302 51d2 9595 1: asr r25 9303 51d4 8795 ror r24 9304 51d6 7795 ror r23 9305 51d8 6795 ror r22 9306 51da 5A95 dec r21 9307 51dc 01F4 brne 1b 9308 51de 6093 0000 sts tmp_long.1,r22 9309 51e2 7093 0000 sts (tmp_long.1)+1,r23 9310 51e6 8093 0000 sts (tmp_long.1)+2,r24 9311 51ea 9093 0000 sts (tmp_long.1)+3,r25 9312 51ee 6138 cpi r22,lo8(-127) 9313 51f0 AFEF ldi r26,hi8(-127) 9314 51f2 7A07 cpc r23,r26 9315 51f4 AFEF ldi r26,hlo8(-127) 9316 51f6 8A07 cpc r24,r26 9317 51f8 AFEF ldi r26,hhi8(-127) 9318 51fa 9A07 cpc r25,r26 9319 51fc 04F4 brge .L756 9320 51fe 80E8 ldi r24,lo8(-128) 9321 5200 9FEF ldi r25,hi8(-128) 9322 5202 AFEF ldi r26,hlo8(-128) 9323 5204 BFEF ldi r27,hhi8(-128) 9324 5206 00C0 rjmp .L913 9325 .L756: 9326 5208 6F3F cpi r22,lo8(255) 9327 520a 7105 cpc r23,__zero_reg__ 9328 520c 8105 cpc r24,__zero_reg__ 9329 520e 9105 cpc r25,__zero_reg__ 9330 5210 01F0 breq .L757 9331 5212 04F0 brlt .L757 9332 5214 80E0 ldi r24,lo8(256) 9333 5216 91E0 ldi r25,hi8(256) 9334 5218 A0E0 ldi r26,hlo8(256) 9335 521a B0E0 ldi r27,hhi8(256) 9336 .L913: 9337 521c 8093 0000 sts tmp_long.1,r24 9338 5220 9093 0000 sts (tmp_long.1)+1,r25 9339 5224 A093 0000 sts (tmp_long.1)+2,r26 9340 5228 B093 0000 sts (tmp_long.1)+3,r27 9341 .L757: 9342 522c 8091 0000 lds r24,tmp_long.1 9343 5230 9091 0000 lds r25,(tmp_long.1)+1 9344 5234 880E add r8,r24 9345 5236 991E adc r9,r25 9346 .L753: 9347 5238 8091 0000 lds r24,Parameter_Hoehe_GPS_Z 9348 523c 282F mov r18,r24 9349 523e 3327 clr r19 9350 5240 8091 0000 lds r24,FromNaviCtrl_Value+4 9351 5244 9927 clr r25 9352 5246 87FD sbrc r24,7 9353 5248 9095 com r25 9354 524a 289F mul r18,r24 9355 524c F001 movw r30,r0 9356 524e 299F mul r18,r25 9357 5250 F00D add r31,r0 9358 5252 389F mul r19,r24 9359 5254 F00D add r31,r0 9360 5256 1124 clr r1 9361 5258 9F01 movw r18,r30 9362 525a F7FF sbrs r31,7 9363 525c 00C0 rjmp .L759 9364 525e 2158 subi r18,lo8(-(127)) 9365 5260 3F4F sbci r19,hi8(-(127)) 9366 .L759: 9367 5262 220F lsl r18 9368 5264 232F mov r18,r19 9369 5266 221F rol r18 9370 5268 330B sbc r19,r19 9371 526a FFEF ldi r31,hi8(-127) 9372 526c 2138 cpi r18,lo8(-127) 9373 526e 3F07 cpc r19,r31 9374 5270 04F4 brge .L760 9375 5272 20E8 ldi r18,lo8(-128) 9376 5274 3FEF ldi r19,hi8(-128) 9377 5276 00C0 rjmp .L761 9378 .L760: 9379 5278 2F3F cpi r18,255 9380 527a 3105 cpc r19,__zero_reg__ 9381 527c 01F0 breq .L761 9382 527e 04F0 brlt .L761 9383 5280 20E0 ldi r18,lo8(256) 9384 5282 31E0 ldi r19,hi8(256) 9385 .L761: 9386 5284 820E add r8,r18 9387 5286 931E adc r9,r19 9388 5288 C401 movw r24,r8 9389 528a AA27 clr r26 9390 528c 97FD sbrc r25,7 9391 528e A095 com r26 9392 5290 BA2F mov r27,r26 9393 5292 E090 0000 lds r14,HoverGas 9394 5296 F090 0000 lds r15,(HoverGas)+1 9395 529a 9701 movw r18,r14 9396 529c 4427 clr r20 9397 529e 37FD sbrc r19,7 9398 52a0 4095 com r20 9399 52a2 542F mov r21,r20 9400 52a4 BC01 movw r22,r24 9401 52a6 CD01 movw r24,r26 9402 52a8 0E94 0000 call __mulsi3 9403 52ac 97FF sbrs r25,7 9404 52ae 00C0 rjmp .L763 9405 52b0 6150 subi r22,lo8(-(511)) 9406 52b2 7E4F sbci r23,hi8(-(511)) 9407 52b4 8F4F sbci r24,hlo8(-(511)) 9408 52b6 9F4F sbci r25,hhi8(-(511)) 9409 .L763: 9410 52b8 29E0 ldi r18,9 9411 52ba 9595 1: asr r25 9412 52bc 8795 ror r24 9413 52be 7795 ror r23 9414 52c0 6795 ror r22 9415 52c2 2A95 dec r18 9416 52c4 01F4 brne 1b 9417 52c6 C61A sub r12,r22 9418 52c8 D70A sbc r13,r23 9419 52ca 8091 0000 lds r24,AltitudeSetpointTrimming 9420 52ce 9091 0000 lds r25,(AltitudeSetpointTrimming)+1 9421 52d2 892B or r24,r25 9422 52d4 01F0 breq .+2 9423 52d6 00C0 rjmp .L764 9424 52d8 1E14 cp __zero_reg__,r14 9425 52da 1F04 cpc __zero_reg__,r15 9426 52dc 04F0 brlt .+2 9427 52de 00C0 rjmp .L764 9428 52e0 9801 movw r18,r16 9429 52e2 17FF sbrs r17,7 9430 52e4 00C0 rjmp .L765 9431 52e6 3095 com r19 9432 52e8 2195 neg r18 9433 52ea 3F4F sbci r19,lo8(-1) 9434 .L765: 9435 52ec 2D33 cpi r18,61 9436 52ee 3105 cpc r19,__zero_reg__ 9437 52f0 00F4 brsh .L766 9438 52f2 8091 0000 lds r24,HoverGasMin 9439 52f6 9091 0000 lds r25,(HoverGasMin)+1 9440 52fa 8C15 cp r24,r12 9441 52fc 9D05 cpc r25,r13 9442 52fe 04F4 brge .L915 9443 5300 00C0 rjmp .L924 9444 .L766: 9445 5302 2C53 subi r18,lo8(-(-60)) 9446 5304 3040 sbci r19,hi8(-(-60)) 9447 5306 85E0 ldi r24,5 9448 5308 3695 1: lsr r19 9449 530a 2795 ror r18 9450 530c 8A95 dec r24 9451 530e 01F4 brne 1b 9452 5310 2031 cpi r18,16 9453 5312 3105 cpc r19,__zero_reg__ 9454 5314 00F0 brlo .L771 9455 5316 2FE0 ldi r18,lo8(15) 9456 5318 30E0 ldi r19,hi8(15) 9457 .L771: 9458 531a 4091 0000 lds r20,HoverGasMin 9459 531e 5091 0000 lds r21,(HoverGasMin)+1 9460 5322 1016 cp __zero_reg__,r16 9461 5324 1106 cpc __zero_reg__,r17 9462 5326 04F4 brge .L772 9463 5328 80E1 ldi r24,lo8(16) 9464 532a 90E0 ldi r25,hi8(16) 9465 532c 821B sub r24,r18 9466 532e 930B sbc r25,r19 9467 5330 489F mul r20,r24 9468 5332 9001 movw r18,r0 9469 5334 499F mul r20,r25 9470 5336 300D add r19,r0 9471 5338 589F mul r21,r24 9472 533a 300D add r19,r0 9473 533c 1124 clr r1 9474 533e B4E0 ldi r27,4 9475 5340 3695 1: lsr r19 9476 5342 2795 ror r18 9477 5344 BA95 dec r27 9478 5346 01F4 brne 1b 9479 5348 2C15 cp r18,r12 9480 534a 3D05 cpc r19,r13 9481 534c 00F4 brsh .L914 9482 .L924: 9483 534e 8091 0000 lds r24,HoverGasMax 9484 5352 9091 0000 lds r25,(HoverGasMax)+1 9485 5356 C816 cp r12,r24 9486 5358 D906 cpc r13,r25 9487 535a 04F0 brlt .L764 9488 .L915: 9489 535c 6C01 movw r12,r24 9490 535e 00C0 rjmp .L764 9491 .L772: 9492 5360 205F subi r18,lo8(-(16)) 9493 5362 3F4F sbci r19,hi8(-(16)) 9494 5364 8091 0000 lds r24,HoverGasMax 9495 5368 9091 0000 lds r25,(HoverGasMax)+1 9496 536c 829F mul r24,r18 9497 536e 8001 movw r16,r0 9498 5370 839F mul r24,r19 9499 5372 100D add r17,r0 9500 5374 929F mul r25,r18 9501 5376 100D add r17,r0 9502 5378 1124 clr r1 9503 537a 9801 movw r18,r16 9504 537c A4E0 ldi r26,4 9505 537e 3695 1: lsr r19 9506 5380 2795 ror r18 9507 5382 AA95 dec r26 9508 5384 01F4 brne 1b 9509 5386 4C15 cp r20,r12 9510 5388 5D05 cpc r21,r13 9511 538a 04F0 brlt .L777 9512 538c 6A01 movw r12,r20 9513 538e 00C0 rjmp .L764 9514 .L777: 9515 5390 C216 cp r12,r18 9516 5392 D306 cpc r13,r19 9517 5394 00F0 brlo .L764 9518 .L914: 9519 5396 6901 movw r12,r18 9520 .L764: 9521 5398 C601 movw r24,r12 9522 539a AA27 clr r26 9523 539c 97FD sbrc r25,7 9524 539e A095 com r26 9525 53a0 BA2F mov r27,r26 9526 53a2 FDE0 ldi r31,13 9527 53a4 880F 1: lsl r24 9528 53a6 991F rol r25 9529 53a8 AA1F rol r26 9530 53aa BB1F rol r27 9531 53ac FA95 dec r31 9532 53ae 01F4 brne 1b 9533 53b0 9501 movw r18,r10 9534 53b2 4427 clr r20 9535 53b4 37FD sbrc r19,7 9536 53b6 4095 com r20 9537 53b8 542F mov r21,r20 9538 53ba BC01 movw r22,r24 9539 53bc CD01 movw r24,r26 9540 53be 0E94 0000 call __divmodsi4 9541 53c2 2093 0000 sts tmp_long2.2,r18 9542 53c6 3093 0000 sts (tmp_long2.2)+1,r19 9543 53ca 4093 0000 sts (tmp_long2.2)+2,r20 9544 53ce 5093 0000 sts (tmp_long2.2)+3,r21 9545 53d2 C090 0000 lds r12,tmp_long2.2 9546 53d6 D090 0000 lds r13,(tmp_long2.2)+1 9547 53da 8091 0000 lds r24,FilterHCGas.22 9548 53de 9091 0000 lds r25,(FilterHCGas.22)+1 9549 53e2 9C01 movw r18,r24 9550 53e4 220F lsl r18 9551 53e6 331F rol r19 9552 53e8 280F add r18,r24 9553 53ea 391F adc r19,r25 9554 53ec 2C0D add r18,r12 9555 53ee 3D1D adc r19,r13 9556 53f0 37FF sbrs r19,7 9557 53f2 00C0 rjmp .L780 9558 53f4 2D5F subi r18,lo8(-(3)) 9559 53f6 3F4F sbci r19,hi8(-(3)) 9560 .L780: 9561 53f8 A901 movw r20,r18 9562 53fa 5595 asr r21 9563 53fc 4795 ror r20 9564 53fe 5595 asr r21 9565 5400 4795 ror r20 9566 5402 5093 0000 sts (FilterHCGas.22)+1,r21 9567 5406 4093 0000 sts FilterHCGas.22,r20 9568 540a 8091 0000 lds r24,EE_Parameter+14 9569 540e 282F mov r18,r24 9570 5410 3327 clr r19 9571 5412 220F lsl r18 9572 5414 331F rol r19 9573 5416 220F lsl r18 9574 5418 331F rol r19 9575 541a 2417 cp r18,r20 9576 541c 3507 cpc r19,r21 9577 541e 04F4 brge .L916 9578 5420 8091 0000 lds r24,MAX_GAS 9579 5424 282F mov r18,r24 9580 5426 3327 clr r19 9581 5428 220F lsl r18 9582 542a 331F rol r19 9583 542c 220F lsl r18 9584 542e 331F rol r19 9585 5430 2055 subi r18,lo8(-(-80)) 9586 5432 3040 sbci r19,hi8(-(-80)) 9587 5434 4217 cp r20,r18 9588 5436 5307 cpc r21,r19 9589 5438 04F0 brlt .L782 9590 .L916: 9591 543a 3093 0000 sts (FilterHCGas.22)+1,r19 9592 543e 2093 0000 sts FilterHCGas.22,r18 9593 .L782: 9594 5442 8091 0000 lds r24,Parameter_ExtraConfig 9595 5446 80FF sbrs r24,0 9596 5448 00C0 rjmp .L784 9597 544a 8091 0000 lds r24,FilterHCGas.22 9598 544e 9091 0000 lds r25,(FilterHCGas.22)+1 9599 5452 2981 ldd r18,Y+1 9600 5454 3A81 ldd r19,Y+2 9601 5456 8217 cp r24,r18 9602 5458 9307 cpc r25,r19 9603 545a 04F0 brlt .L785 9604 545c 3093 0000 sts (FilterHCGas.22)+1,r19 9605 5460 2093 0000 sts FilterHCGas.22,r18 9606 .L785: 9607 5464 4091 0000 lds r20,FilterHCGas.22 9608 5468 5091 0000 lds r21,(FilterHCGas.22)+1 9609 546c 5A83 std Y+2,r21 9610 546e 4983 std Y+1,r20 9611 5470 00C0 rjmp .L788 9612 .L784: 9613 5472 2981 ldd r18,Y+1 9614 5474 3A81 ldd r19,Y+2 9615 5476 2E19 sub r18,r14 9616 5478 3F09 sbc r19,r15 9617 547a 37FF sbrs r19,7 9618 547c 00C0 rjmp .L787 9619 547e 2D5F subi r18,lo8(-(3)) 9620 5480 3F4F sbci r19,hi8(-(3)) 9621 .L787: 9622 5482 3595 asr r19 9623 5484 2795 ror r18 9624 5486 3595 asr r19 9625 5488 2795 ror r18 9626 548a 6091 0000 lds r22,FilterHCGas.22 9627 548e 7091 0000 lds r23,(FilterHCGas.22)+1 9628 5492 620F add r22,r18 9629 5494 731F adc r23,r19 9630 5496 7A83 std Y+2,r23 9631 5498 6983 std Y+1,r22 9632 549a 00C0 rjmp .L788 9633 .L679: 9634 549c 8091 0000 lds r24,EE_Parameter+22 9635 54a0 8823 tst r24 9636 54a2 01F4 brne .L789 9637 54a4 6091 0000 lds r22,HoverGas 9638 54a8 7091 0000 lds r23,(HoverGas)+1 9639 54ac 77FF sbrs r23,7 9640 54ae 00C0 rjmp .L790 9641 54b0 6D5F subi r22,lo8(-(3)) 9642 54b2 7F4F sbci r23,hi8(-(3)) 9643 .L790: 9644 54b4 7595 asr r23 9645 54b6 6795 ror r22 9646 54b8 7595 asr r23 9647 54ba 6795 ror r22 9648 54bc 4091 0000 lds r20,UBat 9649 54c0 5091 0000 lds r21,(UBat)+1 9650 54c4 8091 0000 lds r24,BattLowVoltageWarning 9651 54c8 282F mov r18,r24 9652 54ca 3327 clr r19 9653 54cc 649F mul r22,r20 9654 54ce C001 movw r24,r0 9655 54d0 659F mul r22,r21 9656 54d2 900D add r25,r0 9657 54d4 749F mul r23,r20 9658 54d6 900D add r25,r0 9659 54d8 1124 clr r1 9660 54da B901 movw r22,r18 9661 54dc 0E94 0000 call __divmodhi4 9662 54e0 CB01 movw r24,r22 9663 54e2 00C0 rjmp .L917 9664 .L789: 9665 54e4 9927 clr r25 9666 .L917: 9667 54e6 9093 0000 sts (StickGasHover)+1,r25 9668 54ea 8093 0000 sts StickGasHover,r24 9669 54ee 8091 0000 lds r24,StickGasHover 9670 54f2 9091 0000 lds r25,(StickGasHover)+1 9671 54f6 8734 cpi r24,71 9672 54f8 9105 cpc r25,__zero_reg__ 9673 54fa 04F4 brge .L792 9674 54fc 86E4 ldi r24,lo8(70) 9675 54fe 90E0 ldi r25,hi8(70) 9676 5500 00C0 rjmp .L918 9677 .L792: 9678 5502 8639 cpi r24,150 9679 5504 9105 cpc r25,__zero_reg__ 9680 5506 04F0 brlt .L793 9681 5508 86E9 ldi r24,lo8(150) 9682 550a 90E0 ldi r25,hi8(150) 9683 .L918: 9684 550c 9093 0000 sts (StickGasHover)+1,r25 9685 5510 8093 0000 sts StickGasHover,r24 9686 .L793: 9687 5514 8981 ldd r24,Y+1 9688 5516 9A81 ldd r25,Y+2 9689 5518 9093 0000 sts (FilterHCGas.22)+1,r25 9690 551c 8093 0000 sts FilterHCGas.22,r24 9691 5520 8091 0000 lds r24,FC_StatusFlags 9692 5524 806C ori r24,lo8(-64) 9693 5526 8093 0000 sts FC_StatusFlags,r24 9694 552a 8091 0000 lds r24,FC_StatusFlags2 9695 552e 8D7F andi r24,lo8(-3) 9696 5530 8093 0000 sts FC_StatusFlags2,r24 9697 .L788: 9698 5534 8091 0000 lds r24,FC_StatusFlags 9699 5538 9927 clr r25 9700 553a 9C01 movw r18,r24 9701 553c 2270 andi r18,lo8(2) 9702 553e 3070 andi r19,hi8(2) 9703 5540 81FF sbrs r24,1 9704 5542 00C0 rjmp .L795 9705 5544 8091 0000 lds r24,HoverGasFilter.23 9706 5548 9091 0000 lds r25,(HoverGasFilter.23)+1 9707 554c A091 0000 lds r26,(HoverGasFilter.23)+2 9708 5550 B091 0000 lds r27,(HoverGasFilter.23)+3 9709 5554 0097 sbiw r24,0 9710 5556 A105 cpc r26,__zero_reg__ 9711 5558 B105 cpc r27,__zero_reg__ 9712 555a 01F0 breq .L797 9713 555c 8091 0000 lds r24,StartTrigger 9714 5560 8130 cpi r24,lo8(1) 9715 5562 01F4 brne .L796 9716 .L797: 9717 5564 E981 ldd r30,Y+1 9718 5566 FA81 ldd r31,Y+2 9719 5568 CF01 movw r24,r30 9720 556a AA27 clr r26 9721 556c 97FD sbrc r25,7 9722 556e A095 com r26 9723 5570 BA2F mov r27,r26 9724 5572 1EE0 ldi r17,14 9725 5574 880F 1: lsl r24 9726 5576 991F rol r25 9727 5578 AA1F rol r26 9728 557a BB1F rol r27 9729 557c 1A95 dec r17 9730 557e 01F4 brne 1b 9731 5580 8093 0000 sts HoverGasFilter.23,r24 9732 5584 9093 0000 sts (HoverGasFilter.23)+1,r25 9733 5588 A093 0000 sts (HoverGasFilter.23)+2,r26 9734 558c B093 0000 sts (HoverGasFilter.23)+3,r27 9735 .L796: 9736 5590 8091 0000 lds r24,StartTrigger 9737 5594 8130 cpi r24,lo8(1) 9738 5596 01F4 brne .L798 9739 5598 82E0 ldi r24,lo8(2) 9740 559a 8093 0000 sts StartTrigger,r24 9741 .L798: 9742 559e E980 ldd r14,Y+1 9743 55a0 FA80 ldd r15,Y+2 9744 55a2 C701 movw r24,r14 9745 55a4 AA27 clr r26 9746 55a6 97FD sbrc r25,7 9747 55a8 A095 com r26 9748 55aa BA2F mov r27,r26 9749 55ac 9501 movw r18,r10 9750 55ae 4427 clr r20 9751 55b0 37FD sbrc r19,7 9752 55b2 4095 com r20 9753 55b4 542F mov r21,r20 9754 55b6 BC01 movw r22,r24 9755 55b8 CD01 movw r24,r26 9756 55ba 0E94 0000 call __mulsi3 9757 55be DC01 movw r26,r24 9758 55c0 CB01 movw r24,r22 9759 55c2 8093 0000 sts tmp_long2.2,r24 9760 55c6 9093 0000 sts (tmp_long2.2)+1,r25 9761 55ca A093 0000 sts (tmp_long2.2)+2,r26 9762 55ce B093 0000 sts (tmp_long2.2)+3,r27 9763 55d2 B7FF sbrs r27,7 9764 55d4 00C0 rjmp .L799 9765 55d6 8150 subi r24,lo8(-(8191)) 9766 55d8 904E sbci r25,hi8(-(8191)) 9767 55da AF4F sbci r26,hlo8(-(8191)) 9768 55dc BF4F sbci r27,hhi8(-(8191)) 9769 .L799: 9770 55de 7C01 movw r14,r24 9771 55e0 8D01 movw r16,r26 9772 55e2 ADE0 ldi r26,13 9773 55e4 1595 1: asr r17 9774 55e6 0795 ror r16 9775 55e8 F794 ror r15 9776 55ea E794 ror r14 9777 55ec AA95 dec r26 9778 55ee 01F4 brne 1b 9779 55f0 E092 0000 sts tmp_long2.2,r14 9780 55f4 F092 0000 sts (tmp_long2.2)+1,r15 9781 55f8 0093 0000 sts (tmp_long2.2)+2,r16 9782 55fc 1093 0000 sts (tmp_long2.2)+3,r17 9783 5600 6091 0000 lds r22,modell_fliegt 9784 5604 7091 0000 lds r23,(modell_fliegt)+1 9785 5608 2FE0 ldi r18,hi8(4000) 9786 560a 603A cpi r22,lo8(4000) 9787 560c 7207 cpc r23,r18 9788 560e 00F4 brsh .L800 9789 5610 8091 0000 lds r24,HoverGasFilter.23 9790 5614 9091 0000 lds r25,(HoverGasFilter.23)+1 9791 5618 A091 0000 lds r26,(HoverGasFilter.23)+2 9792 561c B091 0000 lds r27,(HoverGasFilter.23)+3 9793 5620 9C01 movw r18,r24 9794 5622 AD01 movw r20,r26 9795 5624 FAE0 ldi r31,10 9796 5626 5695 1: lsr r21 9797 5628 4795 ror r20 9798 562a 3795 ror r19 9799 562c 2795 ror r18 9800 562e FA95 dec r31 9801 5630 01F4 brne 1b 9802 5632 821B sub r24,r18 9803 5634 930B sbc r25,r19 9804 5636 A40B sbc r26,r20 9805 5638 B50B sbc r27,r21 9806 563a A801 movw r20,r16 9807 563c 9701 movw r18,r14 9808 563e E4E0 ldi r30,4 9809 5640 220F 1: lsl r18 9810 5642 331F rol r19 9811 5644 441F rol r20 9812 5646 551F rol r21 9813 5648 EA95 dec r30 9814 564a 01F4 brne 1b 9815 564c 820F add r24,r18 9816 564e 931F adc r25,r19 9817 5650 A41F adc r26,r20 9818 5652 B51F adc r27,r21 9819 5654 8093 0000 sts HoverGasFilter.23,r24 9820 5658 9093 0000 sts (HoverGasFilter.23)+1,r25 9821 565c A093 0000 sts (HoverGasFilter.23)+2,r26 9822 5660 B093 0000 sts (HoverGasFilter.23)+3,r27 9823 .L800: 9824 5664 6054 subi r22,lo8(8000) 9825 5666 7F41 sbci r23,hi8(8000) 9826 5668 00F4 brsh .L801 9827 566a 8091 0000 lds r24,HoverGasFilter.23 9828 566e 9091 0000 lds r25,(HoverGasFilter.23)+1 9829 5672 A091 0000 lds r26,(HoverGasFilter.23)+2 9830 5676 B091 0000 lds r27,(HoverGasFilter.23)+3 9831 567a 9C01 movw r18,r24 9832 567c AD01 movw r20,r26 9833 567e 6CE0 ldi r22,12 9834 5680 5695 1: lsr r21 9835 5682 4795 ror r20 9836 5684 3795 ror r19 9837 5686 2795 ror r18 9838 5688 6A95 dec r22 9839 568a 01F4 brne 1b 9840 568c 821B sub r24,r18 9841 568e 930B sbc r25,r19 9842 5690 A40B sbc r26,r20 9843 5692 B50B sbc r27,r21 9844 5694 A801 movw r20,r16 9845 5696 9701 movw r18,r14 9846 5698 F2E0 ldi r31,2 9847 569a 220F 1: lsl r18 9848 569c 331F rol r19 9849 569e 441F rol r20 9850 56a0 551F rol r21 9851 56a2 FA95 dec r31 9852 56a4 01F4 brne 1b 9853 56a6 820F add r24,r18 9854 56a8 931F adc r25,r19 9855 56aa A41F adc r26,r20 9856 56ac B51F adc r27,r21 9857 56ae 00C0 rjmp .L919 9858 .L801: 9859 56b0 8091 0000 lds r24,VarioMeter 9860 56b4 9091 0000 lds r25,(VarioMeter)+1 9861 56b8 8091 0000 lds r24,VarioMeter 9862 56bc 9091 0000 lds r25,(VarioMeter)+1 9863 56c0 97FF sbrs r25,7 9864 56c2 00C0 rjmp .L804 9865 56c4 9095 com r25 9866 56c6 8195 neg r24 9867 56c8 9F4F sbci r25,lo8(-1) 9868 .L804: 9869 56ca 8436 cpi r24,100 9870 56cc 9105 cpc r25,__zero_reg__ 9871 56ce 04F4 brge .L802 9872 56d0 8091 0000 lds r24,HoehenWert 9873 56d4 9091 0000 lds r25,(HoehenWert)+1 9874 56d8 2091 0000 lds r18,SollHoehe 9875 56dc 3091 0000 lds r19,(SollHoehe)+1 9876 56e0 821B sub r24,r18 9877 56e2 930B sbc r25,r19 9878 56e4 8150 subi r24,lo8(-(255)) 9879 56e6 9F4F sbci r25,hi8(-(255)) 9880 56e8 8F5F subi r24,lo8(511) 9881 56ea 9140 sbci r25,hi8(511) 9882 56ec 00F4 brsh .L802 9883 56ee 8091 0000 lds r24,HoverGasFilter.23 9884 56f2 9091 0000 lds r25,(HoverGasFilter.23)+1 9885 56f6 A091 0000 lds r26,(HoverGasFilter.23)+2 9886 56fa B091 0000 lds r27,(HoverGasFilter.23)+3 9887 56fe 9C01 movw r18,r24 9888 5700 AD01 movw r20,r26 9889 5702 EEE0 ldi r30,14 9890 5704 5695 1: lsr r21 9891 5706 4795 ror r20 9892 5708 3795 ror r19 9893 570a 2795 ror r18 9894 570c EA95 dec r30 9895 570e 01F4 brne 1b 9896 5710 821B sub r24,r18 9897 5712 930B sbc r25,r19 9898 5714 A40B sbc r26,r20 9899 5716 B50B sbc r27,r21 9900 5718 8E0D add r24,r14 9901 571a 9F1D adc r25,r15 9902 571c A01F adc r26,r16 9903 571e B11F adc r27,r17 9904 .L919: 9905 5720 8093 0000 sts HoverGasFilter.23,r24 9906 5724 9093 0000 sts (HoverGasFilter.23)+1,r25 9907 5728 A093 0000 sts (HoverGasFilter.23)+2,r26 9908 572c B093 0000 sts (HoverGasFilter.23)+3,r27 9909 .L802: 9910 5730 8091 0000 lds r24,HoverGasFilter.23 9911 5734 9091 0000 lds r25,(HoverGasFilter.23)+1 9912 5738 A091 0000 lds r26,(HoverGasFilter.23)+2 9913 573c B091 0000 lds r27,(HoverGasFilter.23)+3 9914 5740 7EE0 ldi r23,14 9915 5742 B695 1: lsr r27 9916 5744 A795 ror r26 9917 5746 9795 ror r25 9918 5748 8795 ror r24 9919 574a 7A95 dec r23 9920 574c 01F4 brne 1b 9921 574e 9093 0000 sts (HoverGas)+1,r25 9922 5752 8093 0000 sts HoverGas,r24 9923 5756 4091 0000 lds r20,EE_Parameter+20 9924 575a 4423 tst r20 9925 575c 01F0 breq .L805 9926 575e 5527 clr r21 9927 5760 9C01 movw r18,r24 9928 5762 BA01 movw r22,r20 9929 5764 0E94 0000 call __divmodhi4 9930 5768 C901 movw r24,r18 9931 576a 861B sub r24,r22 9932 576c 970B sbc r25,r23 9933 576e 9093 0000 sts (HoverGasMin)+1,r25 9934 5772 8093 0000 sts HoverGasMin,r24 9935 5776 260F add r18,r22 9936 5778 371F adc r19,r23 9937 577a 3093 0000 sts (HoverGasMax)+1,r19 9938 577e 2093 0000 sts HoverGasMax,r18 9939 5782 00C0 rjmp .L808 9940 .L805: 9941 5784 1092 0000 sts (HoverGasMin)+1,__zero_reg__ 9942 5788 1092 0000 sts HoverGasMin,__zero_reg__ 9943 578c 8FEF ldi r24,lo8(1023) 9944 578e 93E0 ldi r25,hi8(1023) 9945 5790 9093 0000 sts (HoverGasMax)+1,r25 9946 5794 8093 0000 sts HoverGasMax,r24 9947 5798 00C0 rjmp .L808 9948 .L795: 9949 579a 1092 0000 sts StartTrigger,__zero_reg__ 9950 579e 1092 0000 sts HoverGasFilter.23,__zero_reg__ 9951 57a2 1092 0000 sts (HoverGasFilter.23)+1,__zero_reg__ 9952 57a6 1092 0000 sts (HoverGasFilter.23)+2,__zero_reg__ 9953 57aa 1092 0000 sts (HoverGasFilter.23)+3,__zero_reg__ 9954 57ae 3093 0000 sts (HoverGas)+1,r19 9955 57b2 2093 0000 sts HoverGas,r18 9956 57b6 00C0 rjmp .L808 9957 .L659: 9958 57b8 8091 0000 lds r24,FC_StatusFlags 9959 57bc 806C ori r24,lo8(-64) 9960 57be 8093 0000 sts FC_StatusFlags,r24 9961 .L808: 9962 57c2 8091 0000 lds r24,NC_To_FC_Flags 9963 57c6 81FF sbrs r24,1 9964 57c8 00C0 rjmp .L809 9965 57ca 8981 ldd r24,Y+1 9966 57cc 9A81 ldd r25,Y+2 9967 57ce 97FD sbrc r25,7 9968 57d0 0396 adiw r24,3 9969 .L811: 9970 57d2 9595 asr r25 9971 57d4 8795 ror r24 9972 57d6 9595 asr r25 9973 57d8 8795 ror r24 9974 57da 2091 0000 lds r18,HooverGasEmergencyPercent 9975 57de 3091 0000 lds r19,(HooverGasEmergencyPercent)+1 9976 57e2 2817 cp r18,r24 9977 57e4 3907 cpc r19,r25 9978 57e6 00F4 brsh .L810 9979 57e8 8091 0000 lds r24,HoverGas 9980 57ec 9091 0000 lds r25,(HoverGas)+1 9981 57f0 892B or r24,r25 9982 57f2 01F0 breq .L810 9983 57f4 220F lsl r18 9984 57f6 331F rol r19 9985 57f8 220F lsl r18 9986 57fa 331F rol r19 9987 57fc 3A83 std Y+2,r19 9988 57fe 2983 std Y+1,r18 9989 .L810: 9990 5800 8091 0000 lds r24,HoehenWert 9991 5804 9091 0000 lds r25,(HoehenWert)+1 9992 5808 A091 0000 lds r26,(HoehenWert)+2 9993 580c B091 0000 lds r27,(HoehenWert)+3 9994 5810 8093 0000 sts SollHoehe,r24 9995 5814 9093 0000 sts (SollHoehe)+1,r25 9996 5818 A093 0000 sts (SollHoehe)+2,r26 9997 581c B093 0000 sts (SollHoehe)+3,r27 9998 5820 88E9 ldi r24,lo8(15000) 9999 5822 9AE3 ldi r25,hi8(15000) 10000 5824 9093 0000 sts (beeptime)+1,r25 10001 5828 8093 0000 sts beeptime,r24 10002 582c 80E0 ldi r24,lo8(3584) 10003 582e 9EE0 ldi r25,hi8(3584) 10004 5830 9093 0000 sts (BeepMuster)+1,r25 10005 5834 8093 0000 sts BeepMuster,r24 10006 .L809: 10007 5838 2091 0000 lds r18,MIN_GAS 10008 583c 822F mov r24,r18 10009 583e 9927 clr r25 10010 5840 880F lsl r24 10011 5842 991F rol r25 10012 5844 880F lsl r24 10013 5846 991F rol r25 10014 5848 8896 adiw r24,40 10015 584a 6981 ldd r22,Y+1 10016 584c 7A81 ldd r23,Y+2 10017 584e 8617 cp r24,r22 10018 5850 9707 cpc r25,r23 10019 5852 04F0 brlt .L812 10020 5854 9A83 std Y+2,r25 10021 5856 8983 std Y+1,r24 10022 .L812: 10023 5858 7091 0000 lds r23,MAX_GAS 10024 585c 7D8B std Y+21,r23 10025 585e 872F mov r24,r23 10026 5860 9927 clr r25 10027 5862 880F lsl r24 10028 5864 991F rol r25 10029 5866 880F lsl r24 10030 5868 991F rol r25 10031 586a 8055 subi r24,lo8(-(-80)) 10032 586c 9040 sbci r25,hi8(-(-80)) 10033 586e A981 ldd r26,Y+1 10034 5870 BA81 ldd r27,Y+2 10035 5872 8A17 cp r24,r26 10036 5874 9B07 cpc r25,r27 10037 5876 04F4 brge .L813 10038 5878 9A83 std Y+2,r25 10039 587a 8983 std Y+1,r24 10040 .L813: 10041 587c 8091 0000 lds r24,MissingMotor 10042 5880 8823 tst r24 10043 5882 01F4 brne .L815 10044 5884 8091 0000 lds r24,Capacity+6 10045 5888 8F3F cpi r24,lo8(-1) 10046 588a 01F4 brne .L815 10047 588c 8091 0000 lds r24,NC_ErrorCode 10048 5890 8823 tst r24 10049 5892 01F0 breq .L814 10050 .L815: 10051 5894 8091 0000 lds r24,modell_fliegt 10052 5898 9091 0000 lds r25,(modell_fliegt)+1 10053 589c 0297 sbiw r24,2 10054 589e C097 sbiw r24,48 10055 58a0 00F4 brsh .L814 10056 58a2 E981 ldd r30,Y+1 10057 58a4 FA81 ldd r31,Y+2 10058 58a6 1E16 cp __zero_reg__,r30 10059 58a8 1F06 cpc __zero_reg__,r31 10060 58aa 04F4 brge .L814 10061 58ac 81E0 ldi r24,lo8(1) 10062 58ae 90E0 ldi r25,hi8(1) 10063 58b0 9093 0000 sts (modell_fliegt)+1,r25 10064 58b4 8093 0000 sts modell_fliegt,r24 10065 58b8 E22E mov r14,r18 10066 58ba FF24 clr r15 10067 58bc EE0C lsl r14 10068 58be FF1C rol r15 10069 58c0 EE0C lsl r14 10070 58c2 FF1C rol r15 10071 58c4 8701 movw r16,r14 10072 58c6 085D subi r16,lo8(-(40)) 10073 58c8 1F4F sbci r17,hi8(-(40)) 10074 58ca 1A83 std Y+2,r17 10075 58cc 0983 std Y+1,r16 10076 .L814: 10077 58ce 2981 ldd r18,Y+1 10078 58d0 3A81 ldd r19,Y+2 10079 58d2 3093 0000 sts (DebugOut+16)+1,r19 10080 58d6 2093 0000 sts DebugOut+16,r18 10081 58da 8091 0000 lds r24,sollGier.0 10082 58de 9091 0000 lds r25,(sollGier.0)+1 10083 58e2 A091 0000 lds r26,(sollGier.0)+2 10084 58e6 B091 0000 lds r27,(sollGier.0)+3 10085 58ea 12E0 ldi r17,2 10086 58ec 880F 1: lsl r24 10087 58ee 991F rol r25 10088 58f0 AA1F rol r26 10089 58f2 BB1F rol r27 10090 58f4 1A95 dec r17 10091 58f6 01F4 brne 1b 10092 58f8 0091 0000 lds r16,MesswertGier 10093 58fc 1091 0000 lds r17,(MesswertGier)+1 10094 5900 081B sub r16,r24 10095 5902 190B sbc r17,r25 10096 5904 213A cpi r18,161 10097 5906 3105 cpc r19,__zero_reg__ 10098 5908 04F0 brlt .L817 10099 590a C901 movw r24,r18 10100 590c 37FD sbrc r19,7 10101 590e 0196 adiw r24,1 10102 .L819: 10103 5910 9595 asr r25 10104 5912 8795 ror r24 10105 5914 8017 cp r24,r16 10106 5916 9107 cpc r25,r17 10107 5918 04F4 brge .L818 10108 591a 8C01 movw r16,r24 10109 .L818: 10110 591c 9095 com r25 10111 591e 8195 neg r24 10112 5920 9F4F sbci r25,lo8(-1) 10113 5922 0817 cp r16,r24 10114 5924 1907 cpc r17,r25 10115 5926 04F4 brge .L824 10116 5928 8C01 movw r16,r24 10117 592a 00C0 rjmp .L824 10118 .L817: 10119 592c 0135 cpi r16,81 10120 592e 1105 cpc r17,__zero_reg__ 10121 5930 04F0 brlt .L825 10122 5932 00E5 ldi r16,lo8(80) 10123 5934 10E0 ldi r17,hi8(80) 10124 .L825: 10125 5936 3FEF ldi r19,hi8(-80) 10126 5938 003B cpi r16,lo8(-80) 10127 593a 1307 cpc r17,r19 10128 593c 04F4 brge .L824 10129 593e 00EB ldi r16,lo8(-80) 10130 5940 1FEF ldi r17,hi8(-80) 10131 .L824: 10132 5942 4D89 ldd r20,Y+21 10133 5944 242F mov r18,r20 10134 5946 3327 clr r19 10135 5948 220F lsl r18 10136 594a 331F rol r19 10137 594c 220F lsl r18 10138 594e 331F rol r19 10139 5950 C901 movw r24,r18 10140 5952 6981 ldd r22,Y+1 10141 5954 7A81 ldd r23,Y+2 10142 5956 861B sub r24,r22 10143 5958 970B sbc r25,r23 10144 595a 8017 cp r24,r16 10145 595c 9107 cpc r25,r17 10146 595e 04F4 brge .L827 10147 5960 8C01 movw r16,r24 10148 .L827: 10149 5962 8981 ldd r24,Y+1 10150 5964 9A81 ldd r25,Y+2 10151 5966 821B sub r24,r18 10152 5968 930B sbc r25,r19 10153 596a 0817 cp r16,r24 10154 596c 1907 cpc r17,r25 10155 596e 04F4 brge .L828 10156 5970 8C01 movw r16,r24 10157 .L828: 10158 5972 8091 0000 lds r24,MesswertNick 10159 5976 9091 0000 lds r25,(MesswertNick)+1 10160 597a 6091 0000 lds r22,StickNick 10161 597e 7091 0000 lds r23,(StickNick)+1 10162 5982 861B sub r24,r22 10163 5984 970B sbc r25,r23 10164 5986 9093 0000 sts (DiffNick)+1,r25 10165 598a 8093 0000 sts DiffNick,r24 10166 598e D090 0000 lds r13,IntegralFaktor 10167 5992 2091 0000 lds r18,SummeNick 10168 5996 3091 0000 lds r19,(SummeNick)+1 10169 599a 4091 0000 lds r20,(SummeNick)+2 10170 599e 5091 0000 lds r21,(SummeNick)+3 10171 59a2 DD20 tst r13 10172 59a4 01F0 breq .L829 10173 59a6 661A sub r6,r22 10174 59a8 770A sbc r7,r23 10175 59aa C301 movw r24,r6 10176 59ac AA27 clr r26 10177 59ae 97FD sbrc r25,7 10178 59b0 A095 com r26 10179 59b2 BA2F mov r27,r26 10180 59b4 00C0 rjmp .L920 10181 .L829: 10182 59b6 AA27 clr r26 10183 59b8 97FD sbrc r25,7 10184 59ba A095 com r26 10185 59bc BA2F mov r27,r26 10186 .L920: 10187 59be 280F add r18,r24 10188 59c0 391F adc r19,r25 10189 59c2 4A1F adc r20,r26 10190 59c4 5B1F adc r21,r27 10191 59c6 2093 0000 sts SummeNick,r18 10192 59ca 3093 0000 sts (SummeNick)+1,r19 10193 59ce 4093 0000 sts (SummeNick)+2,r20 10194 59d2 5093 0000 sts (SummeNick)+3,r21 10195 59d6 8091 0000 lds r24,SummeNick 10196 59da 9091 0000 lds r25,(SummeNick)+1 10197 59de A091 0000 lds r26,(SummeNick)+2 10198 59e2 B091 0000 lds r27,(SummeNick)+3 10199 59e6 8150 subi r24,lo8(64001) 10200 59e8 9A4F sbci r25,hi8(64001) 10201 59ea A040 sbci r26,hlo8(64001) 10202 59ec B040 sbci r27,hhi8(64001) 10203 59ee 04F0 brlt .L831 10204 59f0 80E0 ldi r24,lo8(64000) 10205 59f2 9AEF ldi r25,hi8(64000) 10206 59f4 A0E0 ldi r26,hlo8(64000) 10207 59f6 B0E0 ldi r27,hhi8(64000) 10208 59f8 8093 0000 sts SummeNick,r24 10209 59fc 9093 0000 sts (SummeNick)+1,r25 10210 5a00 A093 0000 sts (SummeNick)+2,r26 10211 5a04 B093 0000 sts (SummeNick)+3,r27 10212 .L831: 10213 5a08 8091 0000 lds r24,SummeNick 10214 5a0c 9091 0000 lds r25,(SummeNick)+1 10215 5a10 A091 0000 lds r26,(SummeNick)+2 10216 5a14 B091 0000 lds r27,(SummeNick)+3 10217 5a18 8050 subi r24,lo8(-64000) 10218 5a1a 9640 sbci r25,hi8(-64000) 10219 5a1c AF4F sbci r26,hlo8(-64000) 10220 5a1e BF4F sbci r27,hhi8(-64000) 10221 5a20 04F4 brge .L832 10222 5a22 80E0 ldi r24,lo8(-64000) 10223 5a24 96E0 ldi r25,hi8(-64000) 10224 5a26 AFEF ldi r26,hlo8(-64000) 10225 5a28 BFEF ldi r27,hhi8(-64000) 10226 5a2a 8093 0000 sts SummeNick,r24 10227 5a2e 9093 0000 sts (SummeNick)+1,r25 10228 5a32 A093 0000 sts (SummeNick)+2,r26 10229 5a36 B093 0000 sts (SummeNick)+3,r27 10230 .L832: 10231 5a3a C090 0000 lds r12,EE_Parameter+35 10232 5a3e 2091 0000 lds r18,DiffNick 10233 5a42 3091 0000 lds r19,(DiffNick)+1 10234 5a46 78E0 ldi r23,lo8(8) 10235 5a48 E72E mov r14,r23 10236 5a4a EC14 cp r14,r12 10237 5a4c 00F0 brlo .L833 10238 5a4e 8C2D mov r24,r12 10239 5a50 9927 clr r25 10240 5a52 829F mul r24,r18 10241 5a54 A001 movw r20,r0 10242 5a56 839F mul r24,r19 10243 5a58 500D add r21,r0 10244 5a5a 929F mul r25,r18 10245 5a5c 500D add r21,r0 10246 5a5e 1124 clr r1 10247 5a60 CA01 movw r24,r20 10248 5a62 57FD sbrc r21,7 10249 5a64 0796 adiw r24,7 10250 .L834: 10251 5a66 7C01 movw r14,r24 10252 5a68 63E0 ldi r22,3 10253 5a6a F594 1: asr r15 10254 5a6c E794 ror r14 10255 5a6e 6A95 dec r22 10256 5a70 01F4 brne 1b 10257 5a72 00C0 rjmp .L835 10258 .L833: 10259 5a74 8C2D mov r24,r12 10260 5a76 8695 lsr r24 10261 5a78 9927 clr r25 10262 5a7a 829F mul r24,r18 10263 5a7c B001 movw r22,r0 10264 5a7e 839F mul r24,r19 10265 5a80 700D add r23,r0 10266 5a82 929F mul r25,r18 10267 5a84 700D add r23,r0 10268 5a86 1124 clr r1 10269 5a88 CB01 movw r24,r22 10270 5a8a 77FD sbrc r23,7 10271 5a8c 0396 adiw r24,3 10272 .L836: 10273 5a8e 7C01 movw r14,r24 10274 5a90 F594 asr r15 10275 5a92 E794 ror r14 10276 5a94 F594 asr r15 10277 5a96 E794 ror r14 10278 .L835: 10279 5a98 A090 0000 lds r10,Ki 10280 5a9c B090 0000 lds r11,(Ki)+1 10281 5aa0 9501 movw r18,r10 10282 5aa2 4427 clr r20 10283 5aa4 37FD sbrc r19,7 10284 5aa6 4095 com r20 10285 5aa8 542F mov r21,r20 10286 5aaa 8091 0000 lds r24,SummeNick 10287 5aae 9091 0000 lds r25,(SummeNick)+1 10288 5ab2 A091 0000 lds r26,(SummeNick)+2 10289 5ab6 B091 0000 lds r27,(SummeNick)+3 10290 5aba BC01 movw r22,r24 10291 5abc CD01 movw r24,r26 10292 5abe 0E94 0000 call __divmodsi4 10293 5ac2 E20E add r14,r18 10294 5ac4 F31E adc r15,r19 10295 5ac6 9090 0000 lds r9,Parameter_DynamicStability 10296 5aca 692D mov r22,r9 10297 5acc 7727 clr r23 10298 5ace 8827 clr r24 10299 5ad0 9927 clr r25 10300 5ad2 9801 movw r18,r16 10301 5ad4 17FF sbrs r17,7 10302 5ad6 00C0 rjmp .L837 10303 5ad8 2227 clr r18 10304 5ada 3327 clr r19 10305 5adc 201B sub r18,r16 10306 5ade 310B sbc r19,r17 10307 .L837: 10308 5ae0 37FF sbrs r19,7 10309 5ae2 00C0 rjmp .L838 10310 5ae4 2F5F subi r18,lo8(-(1)) 10311 5ae6 3F4F sbci r19,hi8(-(1)) 10312 .L838: 10313 5ae8 3595 asr r19 10314 5aea 2795 ror r18 10315 5aec A981 ldd r26,Y+1 10316 5aee BA81 ldd r27,Y+2 10317 5af0 2A0F add r18,r26 10318 5af2 3B1F adc r19,r27 10319 5af4 4427 clr r20 10320 5af6 37FD sbrc r19,7 10321 5af8 4095 com r20 10322 5afa 542F mov r21,r20 10323 5afc 0E94 0000 call __mulsi3 10324 5b00 97FF sbrs r25,7 10325 5b02 00C0 rjmp .L839 10326 5b04 615C subi r22,lo8(-(63)) 10327 5b06 7F4F sbci r23,hi8(-(63)) 10328 5b08 8F4F sbci r24,hlo8(-(63)) 10329 5b0a 9F4F sbci r25,hhi8(-(63)) 10330 .L839: 10331 5b0c 26E0 ldi r18,6 10332 5b0e 9595 1: asr r25 10333 5b10 8795 ror r24 10334 5b12 7795 ror r23 10335 5b14 6795 ror r22 10336 5b16 2A95 dec r18 10337 5b18 01F4 brne 1b 10338 5b1a 9B01 movw r18,r22 10339 5b1c 6E15 cp r22,r14 10340 5b1e 7F05 cpc r23,r15 10341 5b20 04F4 brge .L840 10342 5b22 7B01 movw r14,r22 10343 .L840: 10344 5b24 3095 com r19 10345 5b26 2195 neg r18 10346 5b28 3F4F sbci r19,lo8(-1) 10347 5b2a E216 cp r14,r18 10348 5b2c F306 cpc r15,r19 10349 5b2e 04F4 brge .L841 10350 5b30 7901 movw r14,r18 10351 .L841: 10352 5b32 8091 0000 lds r24,MesswertRoll 10353 5b36 9091 0000 lds r25,(MesswertRoll)+1 10354 5b3a 6091 0000 lds r22,StickRoll 10355 5b3e 7091 0000 lds r23,(StickRoll)+1 10356 5b42 861B sub r24,r22 10357 5b44 970B sbc r25,r23 10358 5b46 9093 0000 sts (DiffRoll)+1,r25 10359 5b4a 8093 0000 sts DiffRoll,r24 10360 5b4e 2091 0000 lds r18,SummeRoll 10361 5b52 3091 0000 lds r19,(SummeRoll)+1 10362 5b56 4091 0000 lds r20,(SummeRoll)+2 10363 5b5a 5091 0000 lds r21,(SummeRoll)+3 10364 5b5e DD20 tst r13 10365 5b60 01F0 breq .L842 10366 5b62 461A sub r4,r22 10367 5b64 570A sbc r5,r23 10368 5b66 C201 movw r24,r4 10369 5b68 AA27 clr r26 10370 5b6a 97FD sbrc r25,7 10371 5b6c A095 com r26 10372 5b6e BA2F mov r27,r26 10373 5b70 00C0 rjmp .L921 10374 .L842: 10375 5b72 AA27 clr r26 10376 5b74 97FD sbrc r25,7 10377 5b76 A095 com r26 10378 5b78 BA2F mov r27,r26 10379 .L921: 10380 5b7a 280F add r18,r24 10381 5b7c 391F adc r19,r25 10382 5b7e 4A1F adc r20,r26 10383 5b80 5B1F adc r21,r27 10384 5b82 2093 0000 sts SummeRoll,r18 10385 5b86 3093 0000 sts (SummeRoll)+1,r19 10386 5b8a 4093 0000 sts (SummeRoll)+2,r20 10387 5b8e 5093 0000 sts (SummeRoll)+3,r21 10388 5b92 8091 0000 lds r24,SummeRoll 10389 5b96 9091 0000 lds r25,(SummeRoll)+1 10390 5b9a A091 0000 lds r26,(SummeRoll)+2 10391 5b9e B091 0000 lds r27,(SummeRoll)+3 10392 5ba2 8150 subi r24,lo8(64001) 10393 5ba4 9A4F sbci r25,hi8(64001) 10394 5ba6 A040 sbci r26,hlo8(64001) 10395 5ba8 B040 sbci r27,hhi8(64001) 10396 5baa 04F0 brlt .L844 10397 5bac 80E0 ldi r24,lo8(64000) 10398 5bae 9AEF ldi r25,hi8(64000) 10399 5bb0 A0E0 ldi r26,hlo8(64000) 10400 5bb2 B0E0 ldi r27,hhi8(64000) 10401 5bb4 8093 0000 sts SummeRoll,r24 10402 5bb8 9093 0000 sts (SummeRoll)+1,r25 10403 5bbc A093 0000 sts (SummeRoll)+2,r26 10404 5bc0 B093 0000 sts (SummeRoll)+3,r27 10405 .L844: 10406 5bc4 8091 0000 lds r24,SummeRoll 10407 5bc8 9091 0000 lds r25,(SummeRoll)+1 10408 5bcc A091 0000 lds r26,(SummeRoll)+2 10409 5bd0 B091 0000 lds r27,(SummeRoll)+3 10410 5bd4 8050 subi r24,lo8(-64000) 10411 5bd6 9640 sbci r25,hi8(-64000) 10412 5bd8 AF4F sbci r26,hlo8(-64000) 10413 5bda BF4F sbci r27,hhi8(-64000) 10414 5bdc 04F4 brge .L845 10415 5bde 80E0 ldi r24,lo8(-64000) 10416 5be0 96E0 ldi r25,hi8(-64000) 10417 5be2 AFEF ldi r26,hlo8(-64000) 10418 5be4 BFEF ldi r27,hhi8(-64000) 10419 5be6 8093 0000 sts SummeRoll,r24 10420 5bea 9093 0000 sts (SummeRoll)+1,r25 10421 5bee A093 0000 sts (SummeRoll)+2,r26 10422 5bf2 B093 0000 sts (SummeRoll)+3,r27 10423 .L845: 10424 5bf6 2091 0000 lds r18,DiffRoll 10425 5bfa 3091 0000 lds r19,(DiffRoll)+1 10426 5bfe 48E0 ldi r20,lo8(8) 10427 5c00 4C15 cp r20,r12 10428 5c02 00F0 brlo .L846 10429 5c04 8C2D mov r24,r12 10430 5c06 9927 clr r25 10431 5c08 829F mul r24,r18 10432 5c0a B001 movw r22,r0 10433 5c0c 839F mul r24,r19 10434 5c0e 700D add r23,r0 10435 5c10 929F mul r25,r18 10436 5c12 700D add r23,r0 10437 5c14 1124 clr r1 10438 5c16 CB01 movw r24,r22 10439 5c18 77FD sbrc r23,7 10440 5c1a 0796 adiw r24,7 10441 .L847: 10442 5c1c 6C01 movw r12,r24 10443 5c1e B3E0 ldi r27,3 10444 5c20 D594 1: asr r13 10445 5c22 C794 ror r12 10446 5c24 BA95 dec r27 10447 5c26 01F4 brne 1b 10448 5c28 00C0 rjmp .L848 10449 .L846: 10450 5c2a C694 lsr r12 10451 5c2c 8C2D mov r24,r12 10452 5c2e 9927 clr r25 10453 5c30 829F mul r24,r18 10454 5c32 D001 movw r26,r0 10455 5c34 839F mul r24,r19 10456 5c36 B00D add r27,r0 10457 5c38 929F mul r25,r18 10458 5c3a B00D add r27,r0 10459 5c3c 1124 clr r1 10460 5c3e CD01 movw r24,r26 10461 5c40 B7FD sbrc r27,7 10462 5c42 0396 adiw r24,3 10463 .L849: 10464 5c44 6C01 movw r12,r24 10465 5c46 D594 asr r13 10466 5c48 C794 ror r12 10467 5c4a D594 asr r13 10468 5c4c C794 ror r12 10469 .L848: 10470 5c4e 9501 movw r18,r10 10471 5c50 4427 clr r20 10472 5c52 37FD sbrc r19,7 10473 5c54 4095 com r20 10474 5c56 542F mov r21,r20 10475 5c58 8091 0000 lds r24,SummeRoll 10476 5c5c 9091 0000 lds r25,(SummeRoll)+1 10477 5c60 A091 0000 lds r26,(SummeRoll)+2 10478 5c64 B091 0000 lds r27,(SummeRoll)+3 10479 5c68 BC01 movw r22,r24 10480 5c6a CD01 movw r24,r26 10481 5c6c 0E94 0000 call __divmodsi4 10482 5c70 C20E add r12,r18 10483 5c72 D31E adc r13,r19 10484 5c74 692D mov r22,r9 10485 5c76 7727 clr r23 10486 5c78 8827 clr r24 10487 5c7a 9927 clr r25 10488 5c7c 9801 movw r18,r16 10489 5c7e 17FF sbrs r17,7 10490 5c80 00C0 rjmp .L850 10491 5c82 2227 clr r18 10492 5c84 3327 clr r19 10493 5c86 201B sub r18,r16 10494 5c88 310B sbc r19,r17 10495 .L850: 10496 5c8a 37FF sbrs r19,7 10497 5c8c 00C0 rjmp .L851 10498 5c8e 2F5F subi r18,lo8(-(1)) 10499 5c90 3F4F sbci r19,hi8(-(1)) 10500 .L851: 10501 5c92 3595 asr r19 10502 5c94 2795 ror r18 10503 5c96 E981 ldd r30,Y+1 10504 5c98 FA81 ldd r31,Y+2 10505 5c9a 2E0F add r18,r30 10506 5c9c 3F1F adc r19,r31 10507 5c9e 4427 clr r20 10508 5ca0 37FD sbrc r19,7 10509 5ca2 4095 com r20 10510 5ca4 542F mov r21,r20 10511 5ca6 0E94 0000 call __mulsi3 10512 5caa 97FF sbrs r25,7 10513 5cac 00C0 rjmp .L852 10514 5cae 615C subi r22,lo8(-(63)) 10515 5cb0 7F4F sbci r23,hi8(-(63)) 10516 5cb2 8F4F sbci r24,hlo8(-(63)) 10517 5cb4 9F4F sbci r25,hhi8(-(63)) 10518 .L852: 10519 5cb6 E6E0 ldi r30,6 10520 5cb8 9595 1: asr r25 10521 5cba 8795 ror r24 10522 5cbc 7795 ror r23 10523 5cbe 6795 ror r22 10524 5cc0 EA95 dec r30 10525 5cc2 01F4 brne 1b 10526 5cc4 9B01 movw r18,r22 10527 5cc6 6C15 cp r22,r12 10528 5cc8 7D05 cpc r23,r13 10529 5cca 04F4 brge .L853 10530 5ccc 6B01 movw r12,r22 10531 .L853: 10532 5cce 3095 com r19 10533 5cd0 2195 neg r18 10534 5cd2 3F4F sbci r19,lo8(-1) 10535 5cd4 C216 cp r12,r18 10536 5cd6 D306 cpc r13,r19 10537 5cd8 04F4 brge .L854 10538 5cda 6901 movw r12,r18 10539 .L854: 10540 5cdc 8091 0000 lds r24,MIN_GAS 10541 5ce0 282E mov r2,r24 10542 5ce2 3324 clr r3 10543 5ce4 5090 0000 lds r5,EE_Parameter+101 10544 5ce8 60E0 ldi r22,lo8(Motor) 10545 5cea 862E mov r8,r22 10546 5cec 60E0 ldi r22,hi8(Motor) 10547 5cee 962E mov r9,r22 10548 5cf0 50E0 ldi r21,lo8(Mixer+13) 10549 5cf2 A52E mov r10,r21 10550 5cf4 50E0 ldi r21,hi8(Mixer+13) 10551 5cf6 B52E mov r11,r21 10552 5cf8 4BE0 ldi r20,lo8(11) 10553 5cfa 442E mov r4,r20 10554 5cfc 30E0 ldi r19,lo8(tmp_motorwert) 10555 5cfe 632E mov r6,r19 10556 5d00 30E0 ldi r19,hi8(tmp_motorwert) 10557 5d02 732E mov r7,r19 10558 .L889: 10559 5d04 D501 movw r26,r10 10560 5d06 2C91 ld r18,X 10561 5d08 1216 cp __zero_reg__,r18 10562 5d0a 04F0 brlt .+2 10563 5d0c 00C0 rjmp .L858 10564 5d0e 2034 cpi r18,lo8(64) 10565 5d10 01F4 brne .L859 10566 5d12 E981 ldd r30,Y+1 10567 5d14 FA81 ldd r31,Y+2 10568 5d16 FF8B std Y+23,r31 10569 5d18 EE8B std Y+22,r30 10570 5d1a 00C0 rjmp .L860 10571 .L859: 10572 5d1c 4981 ldd r20,Y+1 10573 5d1e 5A81 ldd r21,Y+2 10574 5d20 CA01 movw r24,r20 10575 5d22 AA27 clr r26 10576 5d24 97FD sbrc r25,7 10577 5d26 A095 com r26 10578 5d28 BA2F mov r27,r26 10579 5d2a 3327 clr r19 10580 5d2c 27FD sbrc r18,7 10581 5d2e 3095 com r19 10582 5d30 432F mov r20,r19 10583 5d32 532F mov r21,r19 10584 5d34 BC01 movw r22,r24 10585 5d36 CD01 movw r24,r26 10586 5d38 0E94 0000 call __mulsi3 10587 5d3c 97FF sbrs r25,7 10588 5d3e 00C0 rjmp .L861 10589 5d40 615C subi r22,lo8(-(63)) 10590 5d42 7F4F sbci r23,hi8(-(63)) 10591 5d44 8F4F sbci r24,hlo8(-(63)) 10592 5d46 9F4F sbci r25,hhi8(-(63)) 10593 .L861: 10594 5d48 26E0 ldi r18,6 10595 5d4a 9595 1: asr r25 10596 5d4c 8795 ror r24 10597 5d4e 7795 ror r23 10598 5d50 6795 ror r22 10599 5d52 2A95 dec r18 10600 5d54 01F4 brne 1b 10601 5d56 7F8B std Y+23,r23 10602 5d58 6E8B std Y+22,r22 10603 .L860: 10604 5d5a F501 movw r30,r10 10605 5d5c 2181 ldd r18,Z+1 10606 5d5e 2034 cpi r18,lo8(64) 10607 5d60 01F4 brne .L862 10608 5d62 2E89 ldd r18,Y+22 10609 5d64 3F89 ldd r19,Y+23 10610 5d66 2E0D add r18,r14 10611 5d68 3F1D adc r19,r15 10612 5d6a 3F8B std Y+23,r19 10613 5d6c 2E8B std Y+22,r18 10614 5d6e 00C0 rjmp .L863 10615 .L862: 10616 5d70 203C cpi r18,lo8(-64) 10617 5d72 01F4 brne .L864 10618 5d74 4E89 ldd r20,Y+22 10619 5d76 5F89 ldd r21,Y+23 10620 5d78 4E19 sub r20,r14 10621 5d7a 5F09 sbc r21,r15 10622 5d7c 5F8B std Y+23,r21 10623 5d7e 4E8B std Y+22,r20 10624 5d80 00C0 rjmp .L863 10625 .L864: 10626 5d82 C701 movw r24,r14 10627 5d84 AA27 clr r26 10628 5d86 97FD sbrc r25,7 10629 5d88 A095 com r26 10630 5d8a BA2F mov r27,r26 10631 5d8c 3327 clr r19 10632 5d8e 27FD sbrc r18,7 10633 5d90 3095 com r19 10634 5d92 432F mov r20,r19 10635 5d94 532F mov r21,r19 10636 5d96 BC01 movw r22,r24 10637 5d98 CD01 movw r24,r26 10638 5d9a 0E94 0000 call __mulsi3 10639 5d9e 97FF sbrs r25,7 10640 5da0 00C0 rjmp .L866 10641 5da2 615C subi r22,lo8(-(63)) 10642 5da4 7F4F sbci r23,hi8(-(63)) 10643 5da6 8F4F sbci r24,hlo8(-(63)) 10644 5da8 9F4F sbci r25,hhi8(-(63)) 10645 .L866: 10646 5daa B6E0 ldi r27,6 10647 5dac 9595 1: asr r25 10648 5dae 8795 ror r24 10649 5db0 7795 ror r23 10650 5db2 6795 ror r22 10651 5db4 BA95 dec r27 10652 5db6 01F4 brne 1b 10653 5db8 AE89 ldd r26,Y+22 10654 5dba BF89 ldd r27,Y+23 10655 5dbc A60F add r26,r22 10656 5dbe B71F adc r27,r23 10657 5dc0 BF8B std Y+23,r27 10658 5dc2 AE8B std Y+22,r26 10659 .L863: 10660 5dc4 F501 movw r30,r10 10661 5dc6 2281 ldd r18,Z+2 10662 5dc8 2034 cpi r18,lo8(64) 10663 5dca 01F4 brne .L867 10664 5dcc 2E89 ldd r18,Y+22 10665 5dce 3F89 ldd r19,Y+23 10666 5dd0 2C0D add r18,r12 10667 5dd2 3D1D adc r19,r13 10668 5dd4 3F8B std Y+23,r19 10669 5dd6 2E8B std Y+22,r18 10670 5dd8 00C0 rjmp .L868 10671 .L867: 10672 5dda 203C cpi r18,lo8(-64) 10673 5ddc 01F4 brne .L869 10674 5dde 4E89 ldd r20,Y+22 10675 5de0 5F89 ldd r21,Y+23 10676 5de2 4C19 sub r20,r12 10677 5de4 5D09 sbc r21,r13 10678 5de6 5F8B std Y+23,r21 10679 5de8 4E8B std Y+22,r20 10680 5dea 00C0 rjmp .L868 10681 .L869: 10682 5dec C601 movw r24,r12 10683 5dee AA27 clr r26 10684 5df0 97FD sbrc r25,7 10685 5df2 A095 com r26 10686 5df4 BA2F mov r27,r26 10687 5df6 3327 clr r19 10688 5df8 27FD sbrc r18,7 10689 5dfa 3095 com r19 10690 5dfc 432F mov r20,r19 10691 5dfe 532F mov r21,r19 10692 5e00 BC01 movw r22,r24 10693 5e02 CD01 movw r24,r26 10694 5e04 0E94 0000 call __mulsi3 10695 5e08 97FF sbrs r25,7 10696 5e0a 00C0 rjmp .L871 10697 5e0c 615C subi r22,lo8(-(63)) 10698 5e0e 7F4F sbci r23,hi8(-(63)) 10699 5e10 8F4F sbci r24,hlo8(-(63)) 10700 5e12 9F4F sbci r25,hhi8(-(63)) 10701 .L871: 10702 5e14 A6E0 ldi r26,6 10703 5e16 9595 1: asr r25 10704 5e18 8795 ror r24 10705 5e1a 7795 ror r23 10706 5e1c 6795 ror r22 10707 5e1e AA95 dec r26 10708 5e20 01F4 brne 1b 10709 5e22 AE89 ldd r26,Y+22 10710 5e24 BF89 ldd r27,Y+23 10711 5e26 A60F add r26,r22 10712 5e28 B71F adc r27,r23 10713 5e2a BF8B std Y+23,r27 10714 5e2c AE8B std Y+22,r26 10715 .L868: 10716 5e2e F501 movw r30,r10 10717 5e30 2381 ldd r18,Z+3 10718 5e32 2034 cpi r18,lo8(64) 10719 5e34 01F4 brne .L872 10720 5e36 2E89 ldd r18,Y+22 10721 5e38 3F89 ldd r19,Y+23 10722 5e3a 200F add r18,r16 10723 5e3c 311F adc r19,r17 10724 5e3e 3F8B std Y+23,r19 10725 5e40 2E8B std Y+22,r18 10726 5e42 00C0 rjmp .L873 10727 .L872: 10728 5e44 203C cpi r18,lo8(-64) 10729 5e46 01F4 brne .L874 10730 5e48 4E89 ldd r20,Y+22 10731 5e4a 5F89 ldd r21,Y+23 10732 5e4c 401B sub r20,r16 10733 5e4e 510B sbc r21,r17 10734 5e50 5F8B std Y+23,r21 10735 5e52 4E8B std Y+22,r20 10736 5e54 00C0 rjmp .L873 10737 .L874: 10738 5e56 C801 movw r24,r16 10739 5e58 AA27 clr r26 10740 5e5a 97FD sbrc r25,7 10741 5e5c A095 com r26 10742 5e5e BA2F mov r27,r26 10743 5e60 3327 clr r19 10744 5e62 27FD sbrc r18,7 10745 5e64 3095 com r19 10746 5e66 432F mov r20,r19 10747 5e68 532F mov r21,r19 10748 5e6a BC01 movw r22,r24 10749 5e6c CD01 movw r24,r26 10750 5e6e 0E94 0000 call __mulsi3 10751 5e72 97FF sbrs r25,7 10752 5e74 00C0 rjmp .L876 10753 5e76 615C subi r22,lo8(-(63)) 10754 5e78 7F4F sbci r23,hi8(-(63)) 10755 5e7a 8F4F sbci r24,hlo8(-(63)) 10756 5e7c 9F4F sbci r25,hhi8(-(63)) 10757 .L876: 10758 5e7e F6E0 ldi r31,6 10759 5e80 9595 1: asr r25 10760 5e82 8795 ror r24 10761 5e84 7795 ror r23 10762 5e86 6795 ror r22 10763 5e88 FA95 dec r31 10764 5e8a 01F4 brne 1b 10765 5e8c AE89 ldd r26,Y+22 10766 5e8e BF89 ldd r27,Y+23 10767 5e90 A60F add r26,r22 10768 5e92 B71F adc r27,r23 10769 5e94 BF8B std Y+23,r27 10770 5e96 AE8B std Y+22,r26 10771 .L873: 10772 5e98 F301 movw r30,r6 10773 5e9a 8081 ld r24,Z 10774 5e9c 9181 ldd r25,Z+1 10775 5e9e 2E89 ldd r18,Y+22 10776 5ea0 3F89 ldd r19,Y+23 10777 5ea2 8217 cp r24,r18 10778 5ea4 9307 cpc r25,r19 10779 5ea6 04F4 brge .L877 10780 5ea8 B901 movw r22,r18 10781 5eaa 680F add r22,r24 10782 5eac 791F adc r23,r25 10783 5eae 77FF sbrs r23,7 10784 5eb0 00C0 rjmp .L878 10785 5eb2 6F5F subi r22,lo8(-(1)) 10786 5eb4 7F4F sbci r23,hi8(-(1)) 10787 .L878: 10788 5eb6 7595 asr r23 10789 5eb8 6795 ror r22 10790 5eba 7F8B std Y+23,r23 10791 5ebc 6E8B std Y+22,r22 10792 5ebe 00C0 rjmp .L879 10793 .L877: 10794 5ec0 5520 tst r5 10795 5ec2 01F4 brne .L880 10796 5ec4 4E89 ldd r20,Y+22 10797 5ec6 5F89 ldd r21,Y+23 10798 5ec8 440F add r20,r20 10799 5eca 551F adc r21,r21 10800 5ecc 481B sub r20,r24 10801 5ece 590B sbc r21,r25 10802 5ed0 5F8B std Y+23,r21 10803 5ed2 4E8B std Y+22,r20 10804 5ed4 00C0 rjmp .L879 10805 .L880: 10806 5ed6 51E0 ldi r21,lo8(1) 10807 5ed8 5515 cp r21,r5 10808 5eda 00F4 brsh .L879 10809 5edc 252D mov r18,r5 10810 5ede 3327 clr r19 10811 5ee0 6E89 ldd r22,Y+22 10812 5ee2 7F89 ldd r23,Y+23 10813 5ee4 861B sub r24,r22 10814 5ee6 970B sbc r25,r23 10815 5ee8 B901 movw r22,r18 10816 5eea 0E94 0000 call __divmodhi4 10817 5eee AE89 ldd r26,Y+22 10818 5ef0 BF89 ldd r27,Y+23 10819 5ef2 A60F add r26,r22 10820 5ef4 B71F adc r27,r23 10821 5ef6 BF8B std Y+23,r27 10822 5ef8 AE8B std Y+22,r26 10823 .L879: 10824 5efa C101 movw r24,r2 10825 5efc 880F lsl r24 10826 5efe 991F rol r25 10827 5f00 880F lsl r24 10828 5f02 991F rol r25 10829 5f04 EE89 ldd r30,Y+22 10830 5f06 FF89 ldd r31,Y+23 10831 5f08 8E17 cp r24,r30 10832 5f0a 9F07 cpc r25,r31 10833 5f0c 04F4 brge .L922 10834 5f0e FD89 ldd r31,Y+21 10835 5f10 8F2F mov r24,r31 10836 5f12 9927 clr r25 10837 5f14 880F lsl r24 10838 5f16 991F rol r25 10839 5f18 880F lsl r24 10840 5f1a 991F rol r25 10841 5f1c 2E89 ldd r18,Y+22 10842 5f1e 3F89 ldd r19,Y+23 10843 5f20 2817 cp r18,r24 10844 5f22 3907 cpc r19,r25 10845 5f24 04F0 brlt .L884 10846 .L922: 10847 5f26 9F8B std Y+23,r25 10848 5f28 8E8B std Y+22,r24 10849 .L884: 10850 5f2a 8E89 ldd r24,Y+22 10851 5f2c 9F89 ldd r25,Y+23 10852 5f2e 97FD sbrc r25,7 10853 5f30 0396 adiw r24,3 10854 .L886: 10855 5f32 9595 asr r25 10856 5f34 8795 ror r24 10857 5f36 9595 asr r25 10858 5f38 8795 ror r24 10859 5f3a F401 movw r30,r8 10860 5f3c 8183 std Z+1,r24 10861 5f3e 880F lsl r24 10862 5f40 991F rol r25 10863 5f42 880F lsl r24 10864 5f44 991F rol r25 10865 5f46 2E89 ldd r18,Y+22 10866 5f48 3F89 ldd r19,Y+23 10867 5f4a 281B sub r18,r24 10868 5f4c 390B sbc r19,r25 10869 5f4e C901 movw r24,r18 10870 5f50 880F lsl r24 10871 5f52 8283 std Z+2,r24 10872 5f54 EE89 ldd r30,Y+22 10873 5f56 FF89 ldd r31,Y+23 10874 5f58 D301 movw r26,r6 10875 5f5a ED93 st X+,r30 10876 5f5c FC93 st X,r31 10877 5f5e 00C0 rjmp .L857 10878 .L858: 10879 5f60 F401 movw r30,r8 10880 5f62 1182 std Z+1,__zero_reg__ 10881 5f64 1282 std Z+2,__zero_reg__ 10882 .L857: 10883 5f66 4A94 dec r4 10884 5f68 22E0 ldi r18,lo8(2) 10885 5f6a 30E0 ldi r19,hi8(2) 10886 5f6c 620E add r6,r18 10887 5f6e 731E adc r7,r19 10888 5f70 44E0 ldi r20,lo8(4) 10889 5f72 50E0 ldi r21,hi8(4) 10890 5f74 A40E add r10,r20 10891 5f76 B51E adc r11,r21 10892 5f78 68E0 ldi r22,lo8(8) 10893 5f7a 70E0 ldi r23,hi8(8) 10894 5f7c 860E add r8,r22 10895 5f7e 971E adc r9,r23 10896 5f80 47FE sbrs r4,7 10897 5f82 00C0 rjmp .L889 10898 /* epilogue: frame size=23 */ 10899 5f84 E2E1 ldi r30,18 10900 5f86 C95E subi r28,-23 10901 5f88 0C94 0000 jmp __epilogue_restores__+0 10902 /* epilogue end (size=4) */ 10903 /* function MotorRegler size 8305 (8295) */ 10905 .comm TrimNick,2,1 10906 .comm TrimRoll,2,1 10907 .comm ErsatzKompass,4,1 10908 .comm ErsatzKompassInGrad,2,1 10909 .comm MesswertNick,2,1 10910 .comm MesswertRoll,2,1 10911 .comm MesswertGier,2,1 10912 .comm Mittelwert_AccNick,2,1 10913 .comm Mittelwert_AccRoll,2,1 10914 .comm NaviAccNick,2,1 10915 .comm NaviAccRoll,2,1 10916 .comm h,1,1 10917 .comm m,1,1 10918 .comm s,1,1 10919 .comm DiffNick,2,1 10920 .comm DiffRoll,2,1 10921 .comm Parameter_Servo3,1,1 10922 .comm Parameter_Servo4,1,1 10923 .comm Parameter_Servo5,1,1 10924 .comm Parameter_J16Bitmask,1,1 10925 .comm Parameter_J16Timing,1,1 10926 .comm Parameter_J17Bitmask,1,1 10927 .comm Parameter_J17Timing,1,1 10928 .comm Parameter_GlobalConfig,1,1 10929 .comm Parameter_ExtraConfig,1,1 10930 .comm MesswertGierBias,2,1 10931 .comm RohMesswertNick,2,1 10932 .comm RohMesswertRoll,2,1 10933 .comm MittelIntegralNick,4,1 10934 .comm MittelIntegralRoll,4,1 10935 .comm MittelIntegralNick2,4,1 10936 .comm MittelIntegralRoll2,4,1 10937 .comm MAX_GAS,1,1 10938 .comm MIN_GAS,1,1 10939 .comm GyroFaktor,1,1 10940 .comm GyroFaktorGier,1,1 10941 .comm IntegralFaktor,1,1 10942 .comm IntegralFaktorGier,1,1 10943 .comm Parameter_NaviGpsModeControl,1,1 10944 .comm Parameter_NaviGpsGain,1,1 10945 .comm Parameter_NaviGpsP,1,1 10946 .comm Parameter_NaviGpsI,1,1 10947 .comm Parameter_NaviGpsD,1,1 10948 .comm Parameter_NaviGpsACC,1,1 10949 .comm Parameter_NaviOperatingRadius,1,1 10950 .comm Parameter_NaviWindCorrection,1,1 10951 .comm Parameter_NaviSpeedCompensation,1,1 10952 .comm Parameter_ExternalControl,1,1 10953 .comm Parameter_MaximumAltitude,1,1 10954 .comm KopplungsteilNickRoll,2,1 10955 .comm KopplungsteilRollNick,2,1 10956 .comm tmp_motorwert,24,1 10957 /* File "fc.c": code 12397 = 0x306d (12336), prologues 31, epilogues 30 */ DEFINED SYMBOLS *ABS*:00000000 fc.c C:\Temp/ccfR0jIT.s:3 *ABS*:0000003f __SREG__ C:\Temp/ccfR0jIT.s:4 *ABS*:0000003e __SP_H__ C:\Temp/ccfR0jIT.s:5 *ABS*:0000003d __SP_L__ C:\Temp/ccfR0jIT.s:6 *ABS*:00000000 __tmp_reg__ C:\Temp/ccfR0jIT.s:7 *ABS*:00000001 __zero_reg__ C:\Temp/ccfR0jIT.s:15 .bss:00000000 GasIsZeroCnt C:\Temp/ccfR0jIT.s:21 .bss:00000002 HooverGasEmergencyPercent C:\Temp/ccfR0jIT.s:27 .data:00000000 VarioCharacter C:\Temp/ccfR0jIT.s:32 .data:00000001 GIER_GRAD_FAKTOR C:\Temp/ccfR0jIT.s:39 .bss:00000004 FC_StatusFlags2 C:\Temp/ccfR0jIT.s:45 .bss:00000005 FC_StatusFlags C:\Temp/ccfR0jIT.s:51 .bss:00000006 modell_fliegt C:\Temp/ccfR0jIT.s:57 .bss:00000008 MaxStickRoll C:\Temp/ccfR0jIT.s:63 .bss:0000000a MaxStickNick C:\Temp/ccfR0jIT.s:69 .data:00000005 ExternHoehenValue C:\Temp/ccfR0jIT.s:76 .bss:0000000c ExternStickGier C:\Temp/ccfR0jIT.s:82 .bss:0000000e ExternStickRoll C:\Temp/ccfR0jIT.s:88 .bss:00000010 ExternStickNick C:\Temp/ccfR0jIT.s:94 .data:00000007 sintab C:\Temp/ccfR0jIT.s:131 .bss:00000012 CareFree C:\Temp/ccfR0jIT.s:137 .data:00000026 Parameter_DynamicStability C:\Temp/ccfR0jIT.s:142 .data:00000027 Parameter_CouplingYawCorrection C:\Temp/ccfR0jIT.s:147 .data:00000028 Parameter_AchsKopplung2 C:\Temp/ccfR0jIT.s:152 .data:00000029 Parameter_AchsKopplung1 C:\Temp/ccfR0jIT.s:157 .data:0000002a Parameter_LoopGasLimit C:\Temp/ccfR0jIT.s:162 .data:0000002b Parameter_ServoRollComp C:\Temp/ccfR0jIT.s:167 .data:0000002c Parameter_ServoNickComp C:\Temp/ccfR0jIT.s:172 .data:0000002d Parameter_ServoRollControl C:\Temp/ccfR0jIT.s:177 .data:0000002e Parameter_ServoNickControl C:\Temp/ccfR0jIT.s:184 .bss:00000013 Parameter_UserParam8 C:\Temp/ccfR0jIT.s:190 .bss:00000014 Parameter_UserParam7 C:\Temp/ccfR0jIT.s:196 .bss:00000015 Parameter_UserParam6 C:\Temp/ccfR0jIT.s:202 .bss:00000016 Parameter_UserParam5 C:\Temp/ccfR0jIT.s:208 .bss:00000017 Parameter_UserParam4 C:\Temp/ccfR0jIT.s:214 .bss:00000018 Parameter_UserParam3 C:\Temp/ccfR0jIT.s:220 .bss:00000019 Parameter_UserParam2 C:\Temp/ccfR0jIT.s:226 .bss:0000001a Parameter_UserParam1 C:\Temp/ccfR0jIT.s:232 .data:0000002f Parameter_I_Faktor C:\Temp/ccfR0jIT.s:237 .data:00000030 Parameter_Gier_P C:\Temp/ccfR0jIT.s:242 .data:00000031 Parameter_Gyro_Gier_I C:\Temp/ccfR0jIT.s:247 .data:00000032 Parameter_Gyro_Gier_P C:\Temp/ccfR0jIT.s:252 .data:00000033 Parameter_Gyro_I C:\Temp/ccfR0jIT.s:257 .data:00000034 Parameter_Gyro_P C:\Temp/ccfR0jIT.s:262 .data:00000035 Parameter_Gyro_D C:\Temp/ccfR0jIT.s:267 .data:00000036 Parameter_Hoehe_GPS_Z C:\Temp/ccfR0jIT.s:272 .data:00000037 Parameter_KompassWirkung C:\Temp/ccfR0jIT.s:277 .data:00000038 Parameter_Hoehe_ACC_Wirkung C:\Temp/ccfR0jIT.s:282 .data:00000039 Parameter_Hoehe_P C:\Temp/ccfR0jIT.s:287 .data:0000003a Parameter_HoehenSchalter C:\Temp/ccfR0jIT.s:292 .data:0000003b Parameter_Luftdruck_D C:\Temp/ccfR0jIT.s:299 .bss:0000001b Looping_Oben C:\Temp/ccfR0jIT.s:305 .bss:0000001c Looping_Unten C:\Temp/ccfR0jIT.s:311 .bss:0000001d Looping_Rechts C:\Temp/ccfR0jIT.s:317 .bss:0000001e Looping_Links C:\Temp/ccfR0jIT.s:323 .bss:0000001f Looping_Roll C:\Temp/ccfR0jIT.s:329 .bss:00000020 Looping_Nick C:\Temp/ccfR0jIT.s:335 .data:0000003c Ki C:\Temp/ccfR0jIT.s:342 .bss:00000021 HoverGas C:\Temp/ccfR0jIT.s:348 .bss:00000023 LageKorrekturNick C:\Temp/ccfR0jIT.s:354 .bss:00000025 LageKorrekturRoll C:\Temp/ccfR0jIT.s:360 .bss:00000027 NeueKompassRichtungMerken C:\Temp/ccfR0jIT.s:366 .bss:00000028 CalibrationDone C:\Temp/ccfR0jIT.s:372 .bss:00000029 CompassGierSetpoint C:\Temp/ccfR0jIT.s:378 .bss:0000002b WaypointTrimming C:\Temp/ccfR0jIT.s:384 .data:0000003e carefree_old C:\Temp/ccfR0jIT.s:391 .bss:0000002c FromNC_AltitudeSpeed C:\Temp/ccfR0jIT.s:397 .bss:0000002d FromNC_AltitudeSetpoint C:\Temp/ccfR0jIT.s:403 .bss:00000031 AltitudeSetpointTrimming C:\Temp/ccfR0jIT.s:409 .bss:00000033 SollHoehe C:\Temp/ccfR0jIT.s:415 .bss:00000037 HoehenWert C:\Temp/ccfR0jIT.s:421 .bss:0000003b StartTrigger C:\Temp/ccfR0jIT.s:427 .bss:0000003c MotorenEin C:\Temp/ccfR0jIT.s:433 .bss:0000003d SenderOkay C:\Temp/ccfR0jIT.s:439 .bss:0000003e Poti C:\Temp/ccfR0jIT.s:445 .bss:00000047 StickGas C:\Temp/ccfR0jIT.s:451 .bss:00000049 StickGier C:\Temp/ccfR0jIT.s:457 .bss:0000004b StickRoll C:\Temp/ccfR0jIT.s:463 .bss:0000004d StickNick C:\Temp/ccfR0jIT.s:469 .data:0000003f HoverGasMax C:\Temp/ccfR0jIT.s:476 .bss:0000004f HoverGasMin C:\Temp/ccfR0jIT.s:482 .data:00000041 StickGasHover C:\Temp/ccfR0jIT.s:489 .bss:00000051 GierGyroFehler C:\Temp/ccfR0jIT.s:495 .data:00000043 Umschlag180Roll C:\Temp/ccfR0jIT.s:500 .data:00000047 Umschlag180Nick C:\Temp/ccfR0jIT.s:507 .bss:00000053 TrichterFlug C:\Temp/ccfR0jIT.s:513 .bss:00000054 HoehenReglerAktiv C:\Temp/ccfR0jIT.s:519 .data:0000004b KompassSignalSchlecht C:\Temp/ccfR0jIT.s:524 .data:0000004d KompassFusion C:\Temp/ccfR0jIT.s:529 .data:0000004e CalculateCompassTimer C:\Temp/ccfR0jIT.s:536 .bss:00000055 KompassSollWert C:\Temp/ccfR0jIT.s:542 .data:0000004f KompassValue C:\Temp/ccfR0jIT.s:549 .bss:00000057 Mess_Integral_Hoch C:\Temp/ccfR0jIT.s:555 .bss:0000005b SummeRoll C:\Temp/ccfR0jIT.s:561 .bss:0000005f SummeNick C:\Temp/ccfR0jIT.s:567 .bss:00000063 Mess_Integral_Gier2 C:\Temp/ccfR0jIT.s:573 .bss:00000067 Mess_Integral_Gier C:\Temp/ccfR0jIT.s:579 .bss:0000006b Mess_IntegralRoll2 C:\Temp/ccfR0jIT.s:585 .bss:0000006f Mess_IntegralRoll C:\Temp/ccfR0jIT.s:591 .bss:00000073 Mess_IntegralNick2 C:\Temp/ccfR0jIT.s:597 .bss:00000077 Mess_IntegralNick C:\Temp/ccfR0jIT.s:603 .bss:0000007b Integral_Gier C:\Temp/ccfR0jIT.s:609 .bss:0000007f IntegralAccZ C:\Temp/ccfR0jIT.s:615 .bss:00000083 IntegralAccRoll C:\Temp/ccfR0jIT.s:621 .bss:00000087 IntegralAccNick C:\Temp/ccfR0jIT.s:627 .bss:0000008b IntegralRoll2 C:\Temp/ccfR0jIT.s:633 .bss:0000008f IntegralRoll C:\Temp/ccfR0jIT.s:639 .bss:00000093 IntegralNick2 C:\Temp/ccfR0jIT.s:645 .bss:00000097 IntegralNick C:\Temp/ccfR0jIT.s:651 .bss:0000009b ControlHeading C:\Temp/ccfR0jIT.s:657 .bss:0000009c NeutralAccZ C:\Temp/ccfR0jIT.s:663 .bss:0000009e NaviCntAcc C:\Temp/ccfR0jIT.s:669 .bss:000000a0 NeutralAccY C:\Temp/ccfR0jIT.s:675 .bss:000000a2 NeutralAccX C:\Temp/ccfR0jIT.s:681 .bss:000000a4 StartNeutralNick C:\Temp/ccfR0jIT.s:687 .bss:000000a6 StartNeutralRoll C:\Temp/ccfR0jIT.s:693 .bss:000000a8 AdNeutralGier C:\Temp/ccfR0jIT.s:699 .bss:000000aa AdNeutralRoll C:\Temp/ccfR0jIT.s:705 .bss:000000ac AdNeutralNick C:\Temp/ccfR0jIT.s:711 .bss:000000ae BaroExpandActive C:\Temp/ccfR0jIT.s:716 .text:00000000 CopyDebugValues *COM*:00000002 Mittelwert_AccNick *COM*:00000002 Mittelwert_AccRoll *COM*:00000004 ErsatzKompass C:\Temp/ccfR0jIT.s:912 .text:00000254 Piep C:\Temp/ccfR0jIT.s:986 .text:000002da CalibrierMittelwert *COM*:00000002 MesswertNick *COM*:00000002 MesswertRoll *COM*:00000002 MesswertGier C:\Temp/ccfR0jIT.s:1128 .progmem.data:00000000 __c.35 C:\Temp/ccfR0jIT.s:1133 .text:0000041c SetNeutral .bss:000000b0 tmpl.27 C:\Temp/ccfR0jIT.s:1641 .bss:000000b4 tmpl2.28 C:\Temp/ccfR0jIT.s:1642 .bss:000000b8 tmpl3.29 C:\Temp/ccfR0jIT.s:1643 .bss:000000bc tmpl4.30 C:\Temp/ccfR0jIT.s:1644 .bss:000000c0 oldNick.31 C:\Temp/ccfR0jIT.s:1645 .bss:000000c2 oldRoll.32 C:\Temp/ccfR0jIT.s:1646 .bss:000000c4 d2Roll.33 C:\Temp/ccfR0jIT.s:1647 .bss:000000c6 d2Nick.34 C:\Temp/ccfR0jIT.s:1651 .text:00000988 Mittelwert *COM*:00000002 RohMesswertNick *COM*:00000002 RohMesswertRoll *COM*:00000002 NaviAccNick *COM*:00000002 NaviAccRoll *COM*:00000001 Parameter_GlobalConfig *COM*:00000002 KopplungsteilNickRoll *COM*:00000002 KopplungsteilRollNick *COM*:00000002 TrimRoll *COM*:00000002 TrimNick C:\Temp/ccfR0jIT.s:3216 .text:000018ec SendMotorData C:\Temp/ccfR0jIT.s:3276 .text:00001966 ParameterZuordnung *COM*:00000001 Parameter_J16Timing *COM*:00000001 Parameter_J17Timing *COM*:00000001 Parameter_Servo3 *COM*:00000001 Parameter_Servo4 *COM*:00000001 Parameter_Servo5 *COM*:00000001 Parameter_MaximumAltitude *COM*:00000001 Parameter_ExtraConfig *COM*:00000001 Parameter_ExternalControl *COM*:00000001 MAX_GAS *COM*:00000001 MIN_GAS C:\Temp/ccfR0jIT.s:1648 .bss:000000c8 sollGier.0 C:\Temp/ccfR0jIT.s:4019 .bss:000000cc tmp_long.1 C:\Temp/ccfR0jIT.s:4020 .bss:000000d0 tmp_long2.2 C:\Temp/ccfR0jIT.s:4021 .bss:000000d4 IntegralFehlerNick.3 C:\Temp/ccfR0jIT.s:4022 .bss:000000d8 IntegralFehlerRoll.4 C:\Temp/ccfR0jIT.s:4023 .bss:000000dc RcLostTimer.5 C:\Temp/ccfR0jIT.s:4024 .bss:000000de delay_neutral.6 C:\Temp/ccfR0jIT.s:4025 .bss:000000df delay_einschalten.7 C:\Temp/ccfR0jIT.s:4026 .bss:000000e0 delay_ausschalten.8 C:\Temp/ccfR0jIT.s:4027 .bss:000000e1 move_safety_switch.9 C:\Temp/ccfR0jIT.s:4028 .bss:000000e2 ausgleichNick.10 C:\Temp/ccfR0jIT.s:4029 .bss:000000e6 ausgleichRoll.11 C:\Temp/ccfR0jIT.s:4030 .bss:000000ea stick_nick.12 C:\Temp/ccfR0jIT.s:4031 .bss:000000ec stick_roll.13 C:\Temp/ccfR0jIT.s:4032 .bss:000000ee cnt.14 C:\Temp/ccfR0jIT.s:4033 .bss:000000f0 last_n_p.15 C:\Temp/ccfR0jIT.s:4034 .bss:000000f1 last_n_n.16 C:\Temp/ccfR0jIT.s:4035 .bss:000000f2 last_r_p.17 C:\Temp/ccfR0jIT.s:4036 .bss:000000f3 last_r_n.18 C:\Temp/ccfR0jIT.s:4037 .bss:000000f4 MittelIntegralNick_Alt.19 C:\Temp/ccfR0jIT.s:4038 .bss:000000f8 MittelIntegralRoll_Alt.20 C:\Temp/ccfR0jIT.s:4039 .bss:000000fc HeightTrimming.21 C:\Temp/ccfR0jIT.s:4040 .bss:000000fe FilterHCGas.22 C:\Temp/ccfR0jIT.s:4041 .bss:00000100 HoverGasFilter.23 C:\Temp/ccfR0jIT.s:4046 .data:00000051 delay.24 C:\Temp/ccfR0jIT.s:4042 .bss:00000104 BaroAtUpperLimit.25 C:\Temp/ccfR0jIT.s:4048 .bss:00000105 BaroAtLowerLimit.26 C:\Temp/ccfR0jIT.s:4053 .text:00001f9e MotorRegler *COM*:00000001 GyroFaktor *COM*:00000001 IntegralFaktor *COM*:00000001 GyroFaktorGier *COM*:00000001 IntegralFaktorGier *COM*:00000004 MittelIntegralNick *COM*:00000004 MittelIntegralRoll *COM*:00000004 MittelIntegralNick2 *COM*:00000004 MittelIntegralRoll2 *COM*:00000002 ErsatzKompassInGrad *COM*:00000002 DiffNick *COM*:00000002 DiffRoll *COM*:00000018 tmp_motorwert *COM*:00000001 h *COM*:00000001 m *COM*:00000001 s *COM*:00000001 Parameter_J16Bitmask *COM*:00000001 Parameter_J17Bitmask *COM*:00000002 MesswertGierBias *COM*:00000001 Parameter_NaviGpsModeControl *COM*:00000001 Parameter_NaviGpsGain *COM*:00000001 Parameter_NaviGpsP *COM*:00000001 Parameter_NaviGpsI *COM*:00000001 Parameter_NaviGpsD *COM*:00000001 Parameter_NaviGpsACC *COM*:00000001 Parameter_NaviOperatingRadius *COM*:00000001 Parameter_NaviWindCorrection *COM*:00000001 Parameter_NaviSpeedCompensation UNDEFINED SYMBOLS __do_copy_data __do_clear_bss EE_Parameter __divmodsi4 DebugOut AdWertGier AdWertAccHoch UBat Motor Capacity ServoNickValue GPS_Nick GPS_Roll VersionInfo PlatinenVersion beeptime UpdateMotor LIBFC_Polling SucheGyroOffset AdWertNick AdWertRoll AdWertAccNick AdWertAccRoll PPM_in __mulsi3 __prologue_saves__ ExpandBaro Delay_ms_Mess MessLuftdruck SucheLuftruckOffset __divmodhi4 Aktuell_az SetParamWord GetParamWord uart_putchar _printf_P Luftdruck StartLuftdruck VarioMeter LED_Init FromNaviCtrl_Value ServoActive NickServoValue LIBFC_HoTT_Clear __epilogue_restores__ AdWertNickFilter AdWertRollFilter AdReady HiResNick HiResRoll MotorTest PC_MotortestActive I2C_TransferActive motor_write twi_state BLFlags NC_To_FC_MaxAltitude SpeakHoTT FromNaviCtrl BeepMuster PPM_diff SetActiveParamSet WinkelOut GetActiveParamSet ParamSet_ReadFromEEProm LipoDetection LIBFC_ReceiverInit NC_ErrorCode GPSInfo NewPpmData FromNC_Rotate_C FromNC_Rotate_S GPS_Aid_StickMultiplikator __floatsisf __addsf3 __fixunssfsi ExternControl ZaehlMessungen BattLowVoltageWarning __udivmodhi4 DruckOffsetSetting SummenHoehe ihypot c_cos_8192 __udivmodqi4 NC_To_FC_Flags MissingMotor Mixer